Place all dressing ingredients in a bullet blender, blender, or food processor. Blend for 15-30 seconds until well mixed.
In a large bowl, mix cooked and cooled quinoa, edamame, and kale together. Add dressing and toss together. Refrigerate 30 minutes (or until serving) to allow flavors to blend.
A few minutes before serving time, add onions, tomatoes, mango, and avocado. Serve and sprinkle with toasted pepitas.
Notes
Cut the stems out of the kale leaves before assembling the salad.
Kale leaves can be too chewy, even after the stems have been removed. To soften kale, steam or blanch it, then cool completely before adding to the salad.