Bring chicken broth and quinoa to a boil in a saucepan. Reduce heat to low, cover, and simmer until broth is absorbed, about 10 minutes. Off heat, fluff quinoa with a fork.

Whisk olive oil, Dijon mustard, maple syrup, and cinnamon together in a bowl; season with salt and black pepper.

Drizzle maple syrup dressing over quinoa; stir. Stir in apple, pecans, cranberries, and Parmesan cheese. Return cover to the saucepan; let mixture steam until dressing warms and apples slightly soften, 5 to 10 minutes.