Using a spiralizer or vegetable peeler, create zucchini noodles from the zucchinis and set aside.
In a small bowl, whisk together the peanut butter, rice vinegar, lime juice, honey, sriracha, minced garlic, and grated ginger until smooth and creamy. Adjust the spice level to your preference by adding more sriracha if desired.
Heat the sesame oil in a large skillet over medium heat. Add the zucchini noodles and sauté for about 2-3 minutes, just until they are slightly tender but still crisp.
Remove the skillet from heat and pour the peanut sauce over the zucchini noodles. Toss well to coat the noodles evenly in the sauce.
Serve immediately, garnished with chopped peanuts, sesame seeds, and fresh cilantro if using.