Bring a large pot of water to boil over high heat — you'll need enough to fully cover the rice noodles. Once it's rolling, add the noodles and cook for 6-7 minutes until they're tender but still have a tiny bit of bite. I usually taste one at the 6-minute mark because I've overcooked them before and they turn into mush.

While the noodles cook, whisk together peanut butter, soy sauce, lime juice, honey, rice vinegar, ginger, and garlic in a medium bowl. Start with the peanut butter and soy sauce so they blend smoothly, then add everything else. The sauce should look thick but pourable — trust me, it thickens perfectly once you toss it with the hot noodles.

Drain the noodles when they're done and return them to the pot (don't rinse them — that starch helps the sauce stick). Pour the peanut sauce over the warm noodles and add the sesame oil, then toss everything for about 2 minutes so every strand gets coated.

Transfer to a serving bowl or individual plates and top with chopped peanuts, green onions, and cilantro. The warm noodles make the toppings soften just slightly, which is honestly perfect.

Serve immediately while it's warm and the peanut sauce is still silky. This Thai peanut noodles family meal tastes best fresh, though leftovers work for lunch the next day if you reheat them gently.