Heat oil in a Dutch oven over medium-high heat. Add onion, garlic and jalapeno pepper; cook and stir until tender, 3-5 minutes. Add broth, quinoa, and seasonings. Bring to a boil; reduce heat. Simmer, uncovered, until quinoa is tender, about 10 minutes. Add beans, tomatoes, corn and cilantro; heat through. Serve with optional ingredients as desired.