In a large resealable plastic bag, combine chicken, taco seasoning, lime juice, and 2 tablespoons olive oil. Seal and refrigerate for at least 30 minutes.
In large skillet over medium high heat, saute peppers and onions in remaining oil until tender. Remove and set aside.
In the same skillet, add chicken (discard marinade) and saute until cooked through. Return pepper mixture to the skillet and heat through. Season with salt and pepper to taste.
To assemble, fill bowls with quinoa and top with chicken, peppers, onions, and avocado. Garnish with cilantro and serve.