Bring large pot of water to boil. Add noodles and cook according to package directions (4-6 minutes for rice noodles, 4-5 for pre-cooked udon). Drain and set aside.​

While noodles cook, add all sauce ingredients to jar: peanut butter, tamari, maple syrup, water, sesame oil, rice vinegar, chili sauce, grated garlic, grated ginger, and cornstarch. Put lid on and shake vigorously until smooth.​

Heat large skillet or wok over medium heat. Pour peanut sauce into hot pan.​

Cook sauce 3-4 minutes, stirring regularly, until thickened and glossy (should coat back of spatula).​

Add drained noodles to thickened sauce. Using tongs, toss noodles continuously 2-3 minutes until sauce is fully incorporated and everything is heated through.​

Remove from heat and serve immediately. Garnish with chopped peanuts, cilantro, sesame seeds, and lime wedges.​

One-Pan Version with Protein & Vegetables:

Make peanut sauce as directed, set aside. Cook pasta until al dente, drain, set aside.

Heat ½ tablespoon sesame oil in wok over medium-high heat. Add 2 cups cubed chicken, stir-fry until ⅔ cooked. Transfer to bowl, cover, set aside.​

Add ¾ cup water and 3 cups sliced vegetables to pan. Cover and steam 3-4 minutes until tender-crisp.​

Add chicken, pasta, and peanut sauce back to pan. Mix gently. Decrease heat to medium, cover, cook until chicken is done (3-5 minutes).​

Garnish with green onions and serve!​