How to make fluffy (not crunchy) quinoa?
Quinoa is cooked exactly like rice. In fact- if you have a rice cooker you can use that and not worry about it.
Your procedure is ok. This is the way I make my quinoa. 

Toasting grains in oil before steaming them is delicious and results in grains that are more nutty and more individual. Rice is nice this way so there is less risk of making rice paste.

If you are having trouble with your grain not rehydrating properly, the first thing to try would be to skip the oil step. It isn't required.

If you find that your water is evaporating before the quinoa is steamed then it is likely that your lid isn't tight enough.