Jim, I've cooked quinoa while camping plenty of times. It only needs to be cooked once, and cooks slightly faster than white rice. Some quinoa is bitter, and benefits from being rinsed before cooking. Red quinoa is sweeter than yellow.

I've also cooked various kinds of beans from scratch while camping. Soaking beforehand helps, but the cooking times are still silly long. And many beans won't cook at all above @5000ft or so, the water just doesn't get hot enough (unless you're carrying a pressure-cooker).