Blend all peanut sauce ingredients in a blender and set aside.
Follow directions on rice noodle package and cook noodles until al dente. Rinse noodles and place in cold water to keep cool and to keep from sticking to each other.
Place the remaining veggie and herb ingredients in a large bowl. Sprinkle with salt on top. Add cold noodles and then pour peanut butter sauce on top. Toss to combined then top with roasted peanuts and sesame seeds, before serving.