In 8-inch square (2-quart) glass baking dish, place shrimp. Pour teriyaki marinade over shrimp. Cover and refrigerate at least 1 hour but no longer than 2 hours.
Rinse quinoa under cold water 1 minute; drain. Cook quinoa as directed on package.
Meanwhile, remove shrimp from marinade; reserve marinade. Stir water and cornstarch into remaining marinade; set aside.
Heat wok or 10-inch nonstick skillet over medium-high heat. Add oil; rotate wok to coat side. Add carrot; cook and stir 1 minute. Add shrimp, pea pods and mushrooms; cook and stir 3 to 5 minutes or until shrimp are pink and vegetables are crisp-tender.
Stir marinade mixture into shrimp mixture; heat to boiling. Cook and stir until sauce is thickened. Sprinkle with sesame seed. Serve with quinoa.