Rinse the quinoa in a strainer several times with cold water. Bring 1 1/4 cups water to boil in a medium saucepot with a tightly fitted lid. Add the quinoa, cover and simmer until the grains display a thread-like spiral and the water is fully absorbed, about 15 minutes. Remove from the heat and let stand, undisturbed, for 5 minutes. Fluff with two forks and transfer to a large glass mixing bowl to cool. Set aside.
Combine the lime juice, agave nectar, jalapeno, garlic and cumin in a glass mixing bowl, whisking briskly. Drizzle in the oil slowly, continuing to whisk. Once the vinaigrette is smooth and slightly thickened, whisk in the 1/2 cup cilantro and the lime zest. Season with salt.
Place the oranges, jicama, onions, almonds and remaining 2 tablespoons cilantro in a medium mixing bowl. Pour in about half of the cilantro lime vinaigrette and gently toss. Fold into the quinoa. Drizzle in the remaining vinaigrette, and toss to combine thoroughly. Season with salt.
Transfer the quinoa salad to a large serving bowl, garnish with almonds and serve immediately.
For orange segments, use a sharp knife to remove the top, bottom, outer peel and pith. Continuing to use the knife, make incisions between each membrane to create juicy, tender segments.