Boil water in a large pot over high heat. Add rice noodles and cook according to package instructions, about 6-8 minutes. Drain and rinse under cold water.

In a large skillet, heat sesame oil over medium-high heat. Add carrots, garlic, and red onion. Cook for about 5 minutes until softened.

Reduce heat and add peanut butter, tomato paste, soy sauce, and rice vinegar to the skillet. Stir for 2-3 minutes until creamy.

Add drained noodles to the pan along with green peas. Fold gently until coated and heated through, about 2 minutes.

Serve immediately and garnish with crushed peanuts or fresh herbs if desired.