Place the carrots in a bowl with the vinegar and let them soak for at least 30 minutes. Meanwhile, prep other veggies and cook quinoa.
When you are ready to assemble your rolls, set out a large bowl or pot of warm water. One at a time, submerge the dry rice wrappers in the water for about 10 seconds and carefully remove. (It will be fragile, so handle with care.) Lay out the wrapper on a smooth surface and add a small scoop of quinoa down in the middle. The texture of the quinoa will help prevent the veggies from sliding as you roll. Then, layer in desired veggies—don’t forget your vinegar carrots! Add a few sprigs of cilantro and a squeeze of lime juice. Roll the wrapper around the filling halfway, then fold in the sides, and then complete the roll. Set aside and assemble your remaining rolls. Serve with your favorite sauce, like this peanut sauce.