Meanwhile, in a large pot or dutch oven heat olive oil over medium-high heat. Add onion and stir; cook 5-7 minutes or until translucent and softened. Add garlic and saute until fragrant, 30 seconds.
Add in crushed tomatoes, tomato sauce, chili powder, cumin, sugar, cayenne, water, and quinoa and stir well to combine. Season with salt and pepper. Reduce heat to low and simmer 30 minutes.
Add in beans, corn, and lime juice; simmer an additional 5 minutes.