Bring a large pot of salted water to a boil. Add noodles and cook according to package instructions, around 8-10 minutes. Drain and rinse under cold water for 1-2 minutes.

In a mixing bowl, combine peanut butter, soy sauce, rice vinegar, honey, sesame oil, minced garlic, and grated ginger. Whisk until smooth, adding warm water if necessary.

Transfer cooled noodles to a mixing bowl. Pour peanut sauce over noodles and toss gently to coat.

In a dry skillet over medium heat, toast sesame seeds for 3-5 minutes until golden. Remove from heat and cool slightly.

Serve noodles on a platter, garnishing with toasted sesame seeds and optional fresh herbs. Enjoy chilled or at room temperature.