Soak the rice noodles in hot water for 8-10 minutes, or according to the package instructions. Then drain and set aside.
In a small bowl, whisk together the peanut butter, soy sauce, rice vinegar, honey, ginger, garlic, and sesame oil and water. Mix until you have a smooth sauce.
Heat a large skillet or wok over medium heat. Add the prepared sauce and cook for 1-2 minutes to allow the flavors to meld.
Add the drained rice noodles to the skillet, and toss well to coat all the noodles evenly with the sauce.
When serving, sprinkle the noodles with sesame seeds, chopped green onions, and cilantro, if using.
Serve immediately, or let cool slightly, as it is also delicious served lukewarm.
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