1. Heat a skillet up over medium high heat. Add the ground beef, onion and garlic. Season generously with salt and pepper and the taco seasoning. Cook until the beef is browned and the onions are translucent.
2. Spray a 3-4 quart crock pot with cooking spray. Add the cooked ground beef mixture and all other ingredients (except the cheese and toppings). Give it a nice stir. Cover and cook on low for 5-6 hours or on high for 3-4 hours.
3. When the quinoa is soft and the liquid has been absorbed give it another nice stir and top with the cheese. Cover and cook for an additional 10-15 minutes, or until the cheese melts.
4. Top with cilantro, tomatoes, green onions and avocado.