In small bowl, whisk together garlic, basil, olive oil, lemon juice, lemon zest, pepper and salt. Set aside.
Add kale and carrots to large microwave-safe bowl, drizzle with 1 tablespoon water, and loosely cover with a lid or plastic wrap, keeping contents vented.
Microwave on high for 2 minutes to steam vegetables, stirring halfway through.
Add cooked quinoa to bowl, and if cold, microwave with vegetables for another minute or two until warmed, but not overly hot.
Stir dressing into quinoa mixture until evenly coated. Serve warm, room temperature or cold.