Boil the Noodles: Bring a large pot of water to a rolling boil. Add the rice noodles and cook according to package instructions for 6-8 minutes until tender yet al dente. Drain and set aside.

Prepare the Peanut Sauce: In a blender, combine the peanut butter, soy sauce, honey, minced garlic, lemon juice, and water. Blend until smooth and creamy, about 30 seconds.

Combine Noodles and Sauce: Heat a large skillet over medium heat, add the drained noodles, and pour over the peanut sauce. Toss gently to coat. Cook for 1-2 minutes until heated through.

Adjust and Season: Taste and adjust flavors with soy sauce or honey if desired. Add more water if the sauce is too thick.

Serve and Garnish: Serve hot or cold in bowls, topping with crushed peanuts, sesame seeds, or sliced green onions.