Place eggs in saucepan. Add enough cold water to cover eggs by 1 inch. Bring to boil over medium-high heat. Remove from heat, cover and let stand for 13 minutes. Drain and transfer eggs to bowl of ice water. Let stand until cool.
Peel eggs and cut in half lengthwise. Transfer yolks to bowl and mash with a fork until smooth. Stir in quinoa, yogurt and cilantro. Season with salt and pepper.
Place egg whites, hollowed side up, on serving plate. Spoon yolk mixture into egg whites. Cover and refrigerate until set, at least 15 minutes or up to 24 hours.
To prepare 1/2 cup of quinoa, combine 2 1/2 tablespoon of quinoa and 1/3 cup of water in a saucepan. Bring to a boil over medium-high heat. Reduce heat to low; cover and simmer for 12 to 15 minutes or until water is just barely absorbed. Cover and let stand for 5 minutes. Fluff with a fork and let cool completely.