In a large pot, combine the broth and quinoa. Bring to a boil. Cover, reduce heat, and cook until broth is evaporated and quinoa is tender, about 15 minutes. Remove from heat and let stand for 5 minutes, covered. Remove lid and fluff the quinoa with a fork.
Stir in garlic, lime juice, and cilantro. Season with salt and pepper, to taste. Serve warm.