Cook the quinoa according to package instructions then let it cool to room temperature.Preheat oven to 350 degrees and line a muffin tin with paper liners.In a large bowl whisk together the flour, sugar, baking powder, baking soda, salt, cinnamon, ginger, and nutmeg.In a smaller bowl whisk together the cooked quinoa, milk, yogurt, egg, oil, and vanilla extract.Pour the wet ingredients into the dry and fold together until just combined with a rubber spatula.Gently fold in the diced peach.Fill the muffin cups about 3/4 of the way full with the batter then place a peach slice on top.In a small bowl whisk together the granulated sugar and cinnamon.Sprinkle the cinnamon sugar over the tops of all the muffins.Place the muffins in the oven on the middle rack and bake for 18-22 minutes of until a toothpick inserted in the center comes out clean.Cool the muffins on a wire rack before serving.