Instructions:

1. Make sushi rice:
Rinse rice in a fine sieve until water runs mostly clear. Combine rice, quinoa and water in a small pot. Bring to a boil, then cover, reduce heat, and simmer for 18 minutes. Remove from heat and let steam, covered, for 10 minutes. 
In a small bowl, stir vinegar, sugar, and salt until dissolved. Gently fold the vinegar mixture into the hot rice. Let cool slightly until warm (not hot).
2. Assemble the hand rolls: 
Place a half-sheet of nori shiny side down in your hand or on a clean surface, with the short edge closest to you. Spread about ¼ cup sushi rice in a square on one half of the nori. Layer a few slices of tofu, mango, cucumber, avocado, and a sprig of cilantro on top of the rice. Sprinkle with sesame seeds for extra texture. Fold the nori over and around the fillings and roll the rest of the nori around into a cone shape, pressing and using a bit of water to seal.
3. Serve
Enjoy immediately with soy sauce, pickled ginger, and a dab of wasabi.