Cook the spaghetti or rice noodles according to package instructions. Drain and rinse under cold water to stop the cooking process. Set aside.
In a medium bowl, whisk together the peanut butter, soy sauce, sesame oil, rice vinegar, honey or maple syrup, minced garlic, grated ginger, and red pepper flakes until smooth and well combined.
In a large mixing bowl, combine the cooked noodles with the peanut sauce. Toss until the noodles are evenly coated.
Add the chopped green onions and cilantro to the noodles, and gently mix to combine.
Serve the noodles in bowls, garnished with crushed peanuts and sesame seeds.