Heat olive oil in a large pot over medium heat. Add garlic and onion. Season with salt, pepper, smoked paprika, and chipotle powder. Stir until soft, about 3-5 minutes.
Add veggie broth, quinoa, black beans, red kidney beans, tomato sauce, maple syrup, and soy sauce. Stir until well combined.
Cover and let simmer over low to medium heat for 35 minutes, or until quinoa is cooked through.