First, make the peanut sauce. In a large bowl, combine peanut butter, rice vinegar, Tamari, sesame oil, agave, and lime juice. Whisk until smooth. Stir in garlic, ginger, and red pepper flakes. Whisk in the warm water until sauce is smooth.
Next, make the cucumber noodles. Adjust the julienne blade on a mandoline to the 1/8-inch-thick setting. Carefully run a cucumber down the blade, slicing the cucumber to form noodles. Continue with the other cucumber. If you don't have a mandoline you can use a julienne peeler to make the noodles or a spiralizer.
Place cucumber noodles on a plate or in a bowl. Drizzle with peanut sauce and toss gently. Top with cilantro and peanuts. Serve and enjoy!
Note-for gluten-free make sure you use Tamari and for vegan make sure you use agave. You can substitute soy sauce for the Tamari and honey for the agave if you don't need the recipe to be gluten-free or vegan. We also had leftover peanut sauce!