Heat the olive oil in a large skillet over medium heat. Add the ground beef and cook until browned, breaking it up with a spoon as it cooks.
Stir in the chopped onion and minced garlic. Cook for 3 minutes until the onion softens.
Add the rinsed quinoa and taco seasoning. Stir everything together and cook for 1 minute to toast the quinoa slightly.
Pour in the black beans, diced tomatoes, and beef broth. Bring the mixture to a boil, then reduce the heat to low.
Cover the skillet and simmer for 20 minutes until the quinoa is tender and most of the liquid is absorbed.
Remove the lid and stir in the shredded cheddar cheese until it melts evenly throughout the quinoa.
Serve hot, topped with fresh cilantro.