Cook the noodles according to package instructions. Drain and set aside.
In a large skillet, heat the vegetable oil over medium heat. Add the minced garlic, ginger, and crushed Szechuan peppercorns. Sauté for about 1-2 minutes until fragrant.
In a bowl, whisk together the soy sauce, rice vinegar, chili paste, peanut butter, honey, and water until smooth.
Pour the peanut sauce into the skillet with the garlic and ginger mixture. Stir well to combine and let it simmer for 2-3 minutes.
Add the cooked noodles to the skillet and toss to coat them evenly with the sauce. Cook for an additional 2-3 minutes until heated through.
Remove from heat and stir in the chopped green onions and cilantro, if using.
Serve hot, garnished with sesame seeds.