In a medium bowl, whisk together all the sauce ingredients until the peanut butter is fully incorporated and the mixture is smooth. The sauce should coat the back of a spoon — if it seems thick, add a tablespoon of warm water to loosen it up.
Get your oven preheated to 400°F and lightly oil a large rimmed baking sheet. You want enough space for the shrimp to spread out in a single layer without crowding.
Arrange the shrimp on your prepared baking sheet and drizzle with olive oil. Season generously with salt and pepper, then toss everything together with your hands to make sure each shrimp is well-coated.
Slide the shrimp into the oven and roast until they're pink, opaque, and just cooked through, about 6-8 minutes depending on their size. They should have a slight caramelized edge but still be tender. Remove and let them cool slightly.
⏱ 8 min
Meanwhile, bring a large pot of well-salted water to a rolling boil and cook your rice noodles according to the package directions. Drain thoroughly and return them to the pot — you don't want excess water diluting your sauce.
Add the prepared sauce to the warm noodles and toss until every strand is coated. Fold in the roasted shrimp, shredded carrots, chopped peanuts, green onions, and cilantro, mixing gently but thoroughly to distribute everything evenly.
Divide among bowls and finish with a sprinkle of sesame seeds. Serve right away while the noodles are still warm and the flavors are bright.