In a large saucepan, heat the quinoa and milk over medium heat.
Once the mixture starts to simmer, add in the carrots, cinnamon, and vanilla extract. Turn the heat down to low. Cover and cook for about 15 minutes, stirring occasionally.
Add in the almond butter and a pinch of salt. Stir until combined and thickened.
Pour the quinoa into 4 bowls. Top each portion with extra almond butter and toasted walnuts.