Rinse the quinoa in a fine mesh strainer. Put the quinoa in a small saucepan with 1 1/2 cups water and salt. Boil over high heat, then reduce heat to maintain a gentle simmer. Cook, covered, for 15 minutes. Set aside off the heat, undisturbed, for five minutes. Transfer the quinoa to a bowl, fluff with a fork, and let cool.
Segment the grapefruit over a bowl, reserving the segments and juice separately. Also segment the orange. Whisk three tablespoons of the juice with the vinegar, honey, and salt (to taste) in a medium bowl. Gradually whisk in three tablespoons of the olive oil, starting with a few drops and then adding the rest in a stream to make a slightly thick dressing. Season with pepper to taste.
Toss quinoa with the dressing, chickpeas, minced pepper, green onion, bell pepper, and cilantro. Season with salt and pepper to taste.
Toss the grapefruit and orange segments into the salad. Divide among four plates. Serve warm, at room temperature, or chilled.