Spray the 6-quart slow cooker generously with cooking spray or line it with a slow cooker liner.
Place the quinoa in a mesh strainer and rinse under cold running water for about 30 seconds to 1 minute, then let drain.
Add the steel-cut oats, rinsed quinoa, almond milk (or water), brown sugar, maple syrup, salt, and vanilla extract to the slow cooker. Stir to combine.
Cover and set the slow cooker to low for 1 hour.
After 1 hour, without lifting the lid, switch the cooker to the warm setting and leave undisturbed to cook overnight for about 8–9 hours; avoid cooking longer to prevent a mushy texture.
In the morning, turn off the slow cooker and stir the oats; they may still have some liquid that will be absorbed as they sit—serve creamy.
Serve with your choice of toppings such as fresh fruit, extra milk, additional brown sugar, honey or maple syrup, or a scoop of nut butter.