Rinse quinoa under cold water.
In a pot, bring water to a boil. Add quinoa, reduce heat, cover, and simmer for 15 minutes.
Preheat grill to medium-high heat.
Toss bell peppers, zucchini, and red onion with olive oil, salt, and pepper.
Grill vegetables for 5-7 minutes, turning occasionally until tender and slightly charred.
In a large bowl, combine cooked quinoa, grilled vegetables, cherry tomatoes, parsley, and basil.
Drizzle with balsamic vinegar, toss to combine, and serve.