Stir chicken broth and quinoa together in a saucepan; bring to a boil, reduce heat to low, place cover on the saucepan, and cook until the broth is absorbed, about 10 minutes. Remove saucepan from heat and fluff with a fork.
Whisk olive oil, Dijon mustard, maple syrup, and cinnamon together in a bowl; season with salt and pepper. Drizzle sauce over the quinoa; stir.
Add apple pieces, pecan pieces, cranberries, and Parmesan cheese; stir. Return cover to the saucepan and let the mixture steam until the sauce warms and the apples soften slightly, 5 to 10 minutes.
If you would like to serve the salad cold, you can prepare the recipe the same way, but don't add the sauce, cranberries, apples, and pecans until the quinoa has cooled. Then, mix all together in a bowl and refrigerate for at least 30 minutes.