Combine first 4 ingredients in heavy large saucepan. Bring to boil over medium-high heat. Reduce heat to medium-low, cover, and simmer until water is absorbed and quinoa is tender, about 20 minutes.
Meanwhile, heat oil in heavy large skillet over medium heat. Add carrots; sauté until tender, about 5 minutes. Add zucchini; sauté until tender, about 3 minutes. Mix in paprika and cinnamon. Add quinoa to skillet; toss to blend. Season with salt and pepper. DO AHEAD Can be made 1 day ahead. Transfer to baking dish. Cover and chill. Rewarm, covered, in 350°F oven about 15 minutes. Mix in cilantro and serve.
