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Cook pasta according to package directions. Once cooked, drain and set aside.
In your largest skillet (I used a 12-inch cast iron), warm oil over medium heat. Once hot, add broccoli and carrot. Cook, stirring often, for 8-10 minutes, or until softened and browned.
Meanwhile, place peanut sauce ingredients in a medium bowl. Whisk until smooth. It will taste salty, but it will get diluted in the pasta.
Once veggies are cooked, remove pan from heat. Add noodles to pan followed by peanut sauce. Use tongs to toss everything together. (If your pan was on the smaller side, you can transfer everything to a large bowl so you can mix it together easily). Top with plenty of cilantro, green onions and peanuts, lightly tossing to coat. Serve immediately, as the pasta will absorb the sauce as it sits. I like to top mine with extra sriracha!