In a large saucepan of 2 cups water, cook quinoa according to package instructions; set aside.
To make the vinaigrette, whisk together olive oil, apple cider vinegar, orange juice, orange zest and sugar in a small bowl; set aside.
In a large bowl, combine quinoa, oranges, bell pepper, jalapeno, black beans, corn, onion and cilantro. Pour the vinaigrette on top of the salad and gently toss to combine.