Yes to both.
A food doesn't have to have the perfect balance of amino acids to count as a protein food. Your body stores amino acids to some extent, so if you eat the full complement over the course of 24-48 hours or so, it can mix them up as it needs to create its own proteins.
I would actually count quinoa as a better protein source than beans, not just because it contains all the essential amino acids, but because beans are harder to digest and assimilate and require more cooking. Heating makes some percentage of amino acids unavailable.