Begin by boiling a pot of water and cooking the rice noodles according to package instructions for 6-8 minutes, until al dente. Drain and rinse under cold water.

In a mixing bowl, whisk together peanut butter, soy sauce, maple syrup, and chili garlic sauce until smooth and creamy. Set aside.

Heat a skillet over medium heat, add cooled rice noodles, pour in peanut sauce, and stir gently to coat. Cook for 2-3 minutes until heated through.

If using, add sautéed bell peppers, carrots, or edamame, stir together and heat for an additional 2-3 minutes until vegetables are tender yet crisp.

Remove from heat, serve noodles in bowls, garnishing with chopped peanuts, green onions, or sesame seeds if desired.