In a large saucepan of 2 cups water, cook quinoa according to package instructions; set aside. In a small bowl, whisk together balsamic vinegar and lime zest; set aside. In a large bowl, combine quinoa, mango, bell pepper, edamame, red onion, coconut flakes, almonds, raisins and cilantro. Pour the balsamic vinegar mixture on top of the salad and gently toss to combine. Serve immediately.