Cook the rice noodles according to package directions. Drain and rinse with cold water to prevent sticking.
In a bowl, whisk together the peanut butter, soy sauce, lime juice, brown sugar, and water. Grate in the ginger and garlic, then whisk until smooth.
Heat the sesame oil in a saucepan over low heat. Pour in the peanut sauce and cook for 2-3 minutes, or until the sauce has slightly thickened.
Peel the carrot and cut into thin strips. Slice the cucumber into thin strips as well.
Combine the cooked rice noodles with the peanut sauce and top with the sliced vegetables.
Garnish with fresh cilantro, toasted sesame seeds, and chili flakes to taste before serving.
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