Bring a large pot of salted water to a boil and cook the rice noodles until just tender, about 8 minutes. Drain and toss lightly with a teaspoon of sesame oil to prevent sticking.
While the noodles cook, whisk together the peanut butter, soy sauce, lime juice, maple syrup, and Sriracha in a mixing bowl. Add warm water gradually until the sauce is smooth, creamy, and pourable—this helps loosen the thick peanut butter.
Heat a skillet over medium heat. Add a teaspoon of sesame oil, then toss in your quick veggies. Sauté for 2-3 minutes until they start to soften and release fragrant aroma, with a slight char on some edges.
Add the cooked noodles directly into the skillet with the veggies. Pour the peanut sauce over the noodles and toss gently using tongs or a ladle. Cook for another 1-2 minutes until everything is heated through and coated evenly, and you smell the smoky peanut aroma.
Taste the noodles and adjust the seasoning if necessary—add a squeeze of lime or a splash more soy sauce for extra brightness, or more Sriracha for heat. If the sauce is too thick, stir in a little warm water to loosen.
Remove from heat and let sit for a minute to allow flavors to meld. Serve immediately, garnished with chopped scallions or crushed peanuts if desired, for added crunch and color.
