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Fill a medium saucepan with some warm water and set it over medium high heat (to bring to a boil). On a different burner, add the cooking oil to a skillet with the scallion (or onion or shallot). Cook over low heat.
You can chop the ginger and garlic while the scallion cooks. Add the ginger, then the garlic and cook until fragrant.
Add some red pepper flakes and sesame seeds to the scallion/ginger/garlic mixture, and add the frozen veggies.
Drop the frozen udon into the pot of boiling water and cook about 30 seconds less than the package instructions. It likely only needs a minute or so to defrost. As soon as the noodles are defrosted, drain out the water in the sink and add the noodles to the pan with everything else.
Mix, then add the chili garlic sauce, soy sauce, sesame oil, peanut butter, and rice wine vinegar. Mix well, and serve.