Increased attention has been given recently to the statistical analysis of variables with values on nonlinear manifolds. A natural but nontrivial problem in that context is the definition of quantile concepts. We are proposing a solution for compact Riemannian manifolds without boundaries; typical examples are polyspheres, hyperspheres, and toroïdal manifolds equipped with their Riemannian metrics. Our concept of quantile function comes along with a concept of distribution function and, in the empirical case, ranks and signs. The absence of a canonical ordering is offset by resorting to the data-driven ordering induced by optimal transports. Theoretical properties, such as the uniform convergence of the empirical distribution and conditional (and unconditional) quantile functions and distribution-freeness of ranks and signs, are established. Statistical inference applications, from goodness-of-fit to distribution-free rank-based testing, are without number. Of particular importance is the case of quantile regression with directional or toroïdal multiple output, which is given special attention in this paper. Extensive simulations are carried out to illustrate these novel concepts.