Heat olive oil in a large pot over medium heat. Add garlic and cook, stirring frequently until fragrant, about 1 minute.
Stir in quinoa, broth, beans, tomatoes, corn and spices. Bring to a boil; cover, reduce heat and simmer until quinoa is cooked through, about 20 minutes.
Mix in lime juice and cilantro. Top each serving with chopped avocado and enjoy