Cook the rice noodles according to package directions until al dente. Drain and rinse under cold water to prevent sticking. Set aside.
In a mixing bowl, combine peanut butter, soy sauce, lime juice, maple syrup (or honey), sesame oil, and sriracha. Whisk until smooth, adding warm water if needed.
Heat a skillet or wok over medium-high heat. Add sesame oil or water. Stir-fry carrots, bell pepper, and zucchini for 3-4 minutes until tender-crisp.
Add the cooked rice noodles to the skillet with the vegetables. Pour the peanut sauce over and toss to coat, cooking for an additional 2-3 minutes.
Remove from heat and stir in green onions and cilantro. Adjust seasoning with more sriracha or soy sauce as desired.
Plate the noodles and garnish with crushed peanuts and lime wedges.
Notes
For a gluten-free option, substitute soy sauce with tamari.