Rinse the quinoa under cold water in a fine-mesh sieve. In a medium saucepan, combine the quinoa with 2 cups of water. Bring to a boil, then reduce heat to low, cover, and simmer for 15 minutes, or until the quinoa is tender and the water is absorbed. Remove from heat and let it sit, covered, for 5 minutes. Fluff with a fork and let it cool.
In a large bowl, combine the cooked quinoa, chickpeas, cucumber, bell pepper, red onion, parsley, and mint. Season with salt and pepper to taste.
In a small bowl, whisk together the tahini, olive oil, lemon juice, garlic, honey, salt, and pepper. Add water, a tablespoon at a time, until the dressing reaches your desired consistency.
Pour the dressing over the quinoa salad and toss to combine.
Serve the salad with lemon wedges on the side.