Puree all dressing ingredients except pepper in a small blender until smooth.
Place quinoa in a large bowl and drizzle with dressing. Stir to coat, then stir in kale and pepper.
Place a slightly heaping 3/4 cup of quinoa mixture into 6 bowls. Top each with 1/4 of a sliced pear, 1/6th of the diced avocado, 1 1/2 tablespoons red onion and 2 tablespoons walnuts. Garnish with cilantro leaves.