Cook the Udon Noodles: Bring a large pot of water to a boil. Add the udon noodles and cook according to the package instructions, usually around 4-5 minutes until tender. Drain and rinse under cold water to stop the cooking process.
Make the Sauce: In a medium bowl, whisk together the peanut butter, soy sauce, rice vinegar, sesame oil, and honey (or maple syrup) until smooth and creamy. Adjust the consistency with a bit of water if needed.
Sauté the Vegetables: In a large skillet or wok, heat a teaspoon of sesame oil over medium heat. Add the sliced red bell pepper and snap peas, sautéing for about 3-4 minutes until they are just tender but still crisp.
Combine Noodles and Sauce: Add the cooked udon noodles to the skillet with the sautéed vegetables. Pour the peanut sauce over the top, using tongs to gently toss everything together until well combined. Cook for an additional 2-3 minutes until heated through.
Garnish and Serve: Remove from heat and top with sliced green onions, sesame seeds, and fresh cilantro if desired. Serve warm with lime wedges on the side for a bright, zesty finish.
Notes
Serve in a shallow bowl, arranging the noodles in a nest shape.