Cook the noodles per the package instructions until al dente. Drain and immediately rinse in cold water for 5 minutes. Run your fingers (clean) through the noodles or use tongs to help separate them as the water runs through.
In a large bowl, add the cold noodles, all of the vegetables and gently toss to combine. Add on 3/4 of a cup of the spicy peanut sauce and toss with tongs or salad fork/spoon to coat the noodles and vegetables. Add on the peanuts, cilantro, and sesame seeds. Toss again.
Cover and chill in the fridge for 30 minutes (though you can eat immediately if you can’t wait). Right before serving, toss and add additional peanut sauce if needed.
Plate and serve with a side of remaining peanut sauce. Store any leftovers in the fridge for up to 4 days.