Preheat the oven to 400 degrees. Line a baking sheet with foil and spray with nonstick spray. Place the chicken onto the sheet and brush with oil.
In a small bowl, combine the cumin, salt, red pepper, and lime zest. Lightly coat the chicken with the mixture. Bake for 15 minutes or until firm and cooked through. Sprinkle with fresh cilantro and drizzle the lime juice over top.
For the Mexican Quinoa
In a large skillet, heat the olive oil and medium heat. Once hot, add garlic and onion and cook just until soft, about 2 minutes. Stir in the quinoa, broth, beans, tomatoes, chili powder, cumin, and salt. Bring a simmer. Cover and cook for 20 minutes or until quinoa is tender and the liquid has been absorbed. Stir in the cilantro and avocado.
Spoon on to serving plates with the chicken on top, enjoy!