In a medium saucepan, bring the quinoa, coconut milk, milk (or almond milk), water, honey and vanilla to boil over high heat. Reduce heat to medium low and continue to cook, partially covered, stirring occasionally, until the mixture has thickened and the quinoa is very tender, about 30 minutes.
Transfer the quinoa porridge to a bowl (stir in some additional coconut milk for a creamy consistency, optional). Top with pecan and grapes. Serve warm.