In an oven-safe baking dish, combine the diced tomatoes, ½ cup of cheese, water, quinoa, beans, taco seasoning, ¼ cup of cilantro, and lime juice. Stir until all ingredients are evenly distributed.
Cover with aluminum foil and bake for 55-65 minutes or until the quinoa is tender. Set aside to cool slightly before fluffing with a fork.
Cut off the tops of the beefsteak tomatoes. Carve out the seeds with a large spoon to create a cavity. Fill the tomato cavity with the cooked quinoa. Return to the oven for 10 minutes.
Sprinkle each stuffed tomato with the remaining cheese and return to the oven for an additional 1-2 minutes, until the cheese has melted.