Cook quinoa according to package directions.

In the meantime, heat canola oil in a skillet set over high heat. Add corn and stir to coat. Cook for about 5 minutes or until corn is well grilled.

Pour quinoa and corn into a salad bowl and let cool while finishing salad.

In a small bowl, whisk together olive oil, balsamic vinegar, lemon zest and juice, Dijon mustard, salt and pepper.

Add kale, black beans, avocados and dressing to quinoa and corn mixture. Mix well.

Serve salad at room temperature or chilled. Garnish with cilantro leaves.