Add peanut butter, garlic, ginger, teriyaki sauces, soy sauce, lime juice & zest, Sriracha, and sesame oil to food processor or blender and blend until well combined.
Spoon peanut sauce into the bottom of a large bowl and set aside.
Cook noodles according to package directions, making sure to salt the water when it comes to a boil.
Right before the noodles are done, carefully ladle 1 large spoonful of the starchy cooking liquid onto the peanut sauce and whisk to combine. If it's still too thick, add another ladle and whisk. Continue adding hot water, a ladle at a time, until the desired consistency is reached.
Drain noodles and immediately toss with the spicy peanut sauce.
Throw in fresh veggies and cilantro and continue tossing until well mixed.
Garnish with more peanuts, sesame seeds, and fresh cilantro and serve.