Combine the quinoa with 2 cups (480ml) water and a pinch of salt in a saucepan. Bring to a boil, cover, and cook on low for 15 minutes, until the water is absorbed and the grains look translucent with a visible white spiral. Rest for 5 minutes, covered, then fluff.
Mix the yogurt, lime juice, cilantro, garlic, salt, and enough water to make a drizzling consistency. Set aside in the refrigerator.
Heat a large skillet over medium-high heat for 2 minutes. Add the beef in an even layer, breaking it into large chunks. Leave it alone for 3 minutes, until the underside is deeply browned and releases from the pan.
Stir and break the beef into smaller pieces. Cook for 4 to 5 minutes more, until no pink remains, the juices have cooked off, and the meat is browned and sizzling, at 71°C (160°F). Spoon off any excess fat, leaving about 1 tablespoon.
Reduce the heat to medium. Add the chili powder, cumin, paprika, garlic powder, oregano, salt, pepper, and the 2 tablespoons water. Stir for 30 to 60 seconds, until the spices smell toasty and coat the meat in a dark, glossy layer. Transfer to a plate.
Wipe the skillet and heat the olive oil over medium-high heat. Add the peppers and onion in a single layer and cook for 5 to 7 minutes, stirring only every minute or so, until the edges are lightly charred and the peppers are tender but still have a little bite.
Warm the black beans in a small pot or the microwave. Divide the quinoa among four bowls and top with beef, peppers and onion, beans, and avocado. Drizzle with the cilantro-lime yogurt, and scatter fresh cilantro on top.