Heat oil in a large skillet over medium-high heat. Sauté jalapeño pepper and garlic in the hot oil until fragrant, about 1 minute.
Stir black beans, tomatoes, corn, quinoa, and chicken broth into the skillet. Season with pepper flakes, chili powder, cumin, salt, and black pepper; bring to a boil.
Cover the skillet with a lid, reduce heat to low, and simmer until quinoa is tender and liquid is mostly absorbed, about 20 minutes.
Add avocado, lime juice, and cilantro; stir until combined.