Place quinoa in a small bowl; cover with warm water, and rub quinoa between hands (water will be cloudy). Drain and repeat procedure until water is clear; drain quinoa well.
Place quinoa in a large nonstick skillet coated with cooking spray; cook over medium heat, stirring constantly, until quinoa is lightly browned.
Bring 2 cups water to a boil in a medium saucepan; add quinoa. Cover, reduce heat, and simmer 12 minutes or until tender; transfer to a large bowl, and set aside.
Place sesame seeds in skillet coated with cooking spray; cook over medium heat, stirring constantly, until lightly browned. Add to quinoa.
Cook curry powder in skillet over medium heat, stirring constantly, 2 minutes or until fragrant. Stir in orange juice, lime juice, and gingerroot; bring to a boil. Remove from heat. Stir in broth and next 3 ingredients; add to quinoa mixture. Stir in beef and next 3 ingredients. Cover and chill, stirring mixture occasionally.
To serve, place lettuce on 4 plates. Top each with 2 cups quinoa mixture.