Cereals, even the gluten free ones, like quinoa, even soaked and boiled before, should not occur in the baby's meals, before age of two ears. If you are not so conservative, i suggest you to introduce cereals, with gluten or not, after the age of one year. The amylase enzyme needed for starch digestion is produced by the digestive system after this age.
My little sweetie girl has now almost 3 years, so she can eat safely this kind of food. A way of serving her quinoa breakfast is with a top of row organic honey and pieces of well ripe banana. I ususaly have quinoa in refrigerator, soaked and boiled before as I've told you here.