In an perfect world and if you plan ahead you should try to soak quinoa before cooking but we all have busy lives and this is not always possible. Soaking quinoa in water helps removing some of the anti-nutrients such as phytic acid and saponin found in its natural coating which prevents absorption of minerals. Quinoa can be soaked in fresh water for as little as 2 hours, or you can leave it soaking in water in the fridge overnight. So if times allows yes you should always try to soak quinoa before cooking.