Cover the dry quinoa with water and allow it to sit and soak on the counter for at least one hour. You are welcome to soak the quinoa longer, even overnight or up to 24 hours, but in that case you'll want to store the soaking quinoa in the fridge.
Drain the soaked quinoa and rinse well with fresh water. Place the drained quinoa in a 2-quart saucepan over the stove and add 1 3/4 cup water.
Bring the mixture to a boil, then cover and reduce the heat to low, allowing the quinoa to cook for 15 minutes, or until all of the liquid has been absorbed.
Stir in the pumpkin, cinnamon, ginger, cloves, and maple syrup and adjust the flavors to taste, if necessary. Serve warm!