Boil pasta in salted water. While the pasta cooks, cut broccoli and bell pepper into small bite sized pieces.
Prepare peanut sauce by combining peanut butter, soy sauce, rice vinegar, sesame oil, lime juice, sriracha, and warm water in a small mixing bowl.
Drain and rinse cooked pasta in cold water and place in a mixing bowl. Add the broccoli, bell pepper, carrots and roasted peanuts to the bowl along with the peanut dressing.
Toss to combine all of the ingredients. Top with toasted sesame seeds and cilantro and serve!