While the noodles cook, add the peanut butter, soy sauce, chili oil, rice vinegar, honey, sesame seeds, and minced garlic to a bowl. When the noodles are almost finished, add the starchy noodle water and whisk until combined.
2 ½ tablespoons creamy peanut butter, 2 tablespoons soy sauce, 1 tablespoon chili oil, ½ tablespoon rice vinegar, ½ tablespoon honey, 1 garlic clove, ¼ cup noodle water, 1 tablespoon sesame seeds