Prepare rice noodles according to package instructions; set aside.

In a small bowl, whisk together peanut butter, soy sauce, chili sauce, lime juice, garlic, and a bit of water to achieve desired sauce consistency.

Heat vegetable oil in a pan over medium-high heat. Stir-fry mixed vegetables until just tender.

Add the cooked noodles to the pan with the vegetables. Pour the peanut sauce over and toss to combine.

Serve hot, garnished with chopped peanuts and cilantro if desired.