Prepare quinoa according to package directions.
Preheat a grill or grill pan over medium heat. Brush the cut sides of the peaches with olive oil and sprinkle with salt. Place the peaches cut side down on the grill and cook for about 4 minutes until grill marks appear. Remove and let cool slightly.
In a large bowl, combine the quinoa, peaches, arugula, jalapeño, cherry tomatoes, red onion, pecorino cheese, and cilantro.
Drizzle with olive oil and season with salt and pepper to taste. Toss gently to combine. Serve warm or at room temperature. Serve with a lime wedge.
Recipe Tip:
Honey Balsamic Vinaigrette:
Whisk together the balsamic vinegar, olive oil, and honey. Season with salt and pepper.