Whisk olive oil, balsamic vinegar, Dijon mustard, and lime juice together in a bowl to make dressing. Season with salt and pepper. Place quinoa in a bowl. Massage kale pieces with your hands until slightly softened; spread over quinoa. Layer tomatoes, avocado, cucumber, red onion, and green bell pepper over kale. Drizzle dressing on top. Garnish with goat cheese.