Make quinoa as directed on package, and set aside to cool.
Chop cabbage, scallions, peanuts, cilantro, and shred carrots. Set aside.
Segment mandarins or oranges, and set aside.
Make your salad dressing: In a bowl whisk together all ingredients, except for the water. Once combined, add water, tablespoon at a time, until you reach your desired creamy, but pourable consistency.
Assemble the salad: Add everything into a serving bowl. Drizzle peanut dressing over the salad, toss and serve.