Heat a little oil over medium-high heat in a large sauce pot or dutch oven. Add the onions, garlic and carrots and cook until starting to soften, about 5 minutes. Add the spices and cook for another 2 - 3 minutes.Add the chicken stock, water, lime zest and juice, and pumpkin and bring to a boil. Simmer uncovered for 15 - 20 minutes until the soup has thickened. Add the quinoa and cook for another 5 minutes.Using an immersion hand blender or high powered blender, blend the soup until smooth. Return to the pot and stir in the milk. Season with salt and pepper. Serve immediately.