Bring a large pot of water to a boil. Add the rice noodles and cook according to package instructions, usually about 4-5 minutes, until al dente. Drain and rinse with cold water to stop the cooking process. Set aside.
In a mixing bowl, whisk together the peanut butter, soy sauce, lime juice, honey, sesame oil, minced garlic, minced ginger, and water until smooth. If the sauce is too thick, add more water, a tablespoon at a time, until desired consistency is reached.
In a large bowl, combine the cooked noodles with the sauce, tossing until the noodles are evenly coated.
Add the julienned carrots, sliced bell peppers, sliced cucumber, and chopped scallions to the noodles. Toss gently to mix all the ingredients together.
Serve the noodles chilled or at room temperature, garnishing with crushed peanuts and fresh cilantro, if desired.