Place the oil in a medium-sized pot set over medium heat. Add the onion, bell pepper, zucchini and garlic and cook 3-4 minutes. Add the quinoa and cook 2-3 minutes more. Add the water, salt and pepper to the pot, increase the heat to high, and bring to a boil.
Cover the pot, lower the heat to medium-low, and cook, undisturbed 15 minutes, or until the quinoa is tender and the water has evaporated. Mix in the basil and serve.