Place water in a small saucepan. Bring to a boil; add quinoa and 1/8 teaspoon each salt and pepper. Reduce heat; cover and simmer until tender, 12-15 minutes.
Meanwhile, heat a small nonstick skillet over medium-high heat. Break egg into pan; reduce heat to low. Sprinkle with remaining 1/8 teaspoon salt and 1/8 teaspoon pepper. Cook until white is set and yolk begins to thicken, turning once if desired.
Fluff quinoa with a fork; place in a serving bowl. Top with tomatoes, basil, avocado and cooked egg. Drizzle with balsamic glaze, or serve glaze on the side.