Preheat the oven to 350°F. Line 24 muffin tins with paper liners. Set aside.
In a food processor or blender combine milk, eggs and vanilla.
Add cooked quinoa and melted butter, process for several minutes until smooth. Then process a few more minutes for a nice smooth texture.
In a bowl whisk together sugar, cocoa, baking powder, baking soda and salt. Add the quinoa mixture and stir until combined.
Using a portion scoop fill 24 muffin tins. Bake in preheated oven 18-20 minutes, until a toothpick inserted in the center comes out clean. Cool on metal racks before decorating. Can be made a day in advance.