Boil a large pot of water. Cook rice noodles until just tender, then drain and rinse to stop cooking.
Whisk peanut butter, soy sauce, lime juice, rice vinegar, brown sugar, sesame oil, chili-garlic sauce, ginger, garlic, and warm water until smooth.
Warm the oil in a large skillet over medium heat. Sauté carrots and bell pepper until crisp-tender, 2–3 minutes.
Add noodles to the skillet. Pour in the peanut sauce and toss until evenly coated and heated through, 1–2 minutes.
Plate the noodles and finish with scallions, cilantro, and chopped peanuts. Adjust with a splash of water if too thick.