Boil noodles until tender, drain, rinse, and toss with sesame oil.
Whisk peanut butter, soy sauce, lime, vinegar, garlic, ginger, chili, and water into a smooth sauce.
Slice and chop vegetables, prepare toppings, and cook tofu if using.
Toss noodles with sauce, top with veggies, peanuts, and herbs, then rest 10 minutes before serving.