Is raw quinoa milk safe?
The issue with quinoa being soaked and rinsed is not a safety concern.  It is more a matter of flavor.

It is not dangerous.  Some people just find un-rinsed qinoa to be bitter.

In fact, for the most part, that bitter flavor is the majority of the interaction these saponins have with the body.

This article goes into some more detail:
Questionable Quinoa: Perfect Plant Protein or Poison?