Preheat oven to 375˚ F. Cut turnips into ¼" cubes and place in a bowl. Add minced garlic, olive oil, sesame seeds, honey, and sea salt: toss until well combined. Spread turnips out into a single layer in a roasting pan and bake for 25-30 minutes until caramelizing and turnips are tender.
Remove turnips from oven and add the soy sauce and cilantro to the roasting pan. Let cool.
To assemble salad, toss the cooled turnips with the lettuce, cooked quinoa, scallions and sesame seeds. Whisk together the vinegar and sesame oil then pour over the salad. Toss until everything is well combined.