First cook the noodles according to the instructions on the package. This will take around 10 minutes, but it depends what type of noodles you are using. Once they are cooked, drain the water out of them and set aside.
Whisk together the sauce ingredients in a separate bowl and set aside first.
Now in a stovetop pan over medium heat, add in the sesame oil.
When it's hot, add in the onions, garlic and ginger. Stir for 2-3 minutes.
Then add in the pepper and tofu. Stir these around for 2 minutes, until the tofu is browning.
Add in the noodles and stir to combine.
Then add in the peanuts and the sauce over top. Stir to combine again. If you'd like it a little creamier without changing the flavor, add a splash of plant-based milk (eg. oat milk because of the neutral taste. Or if you are heating up leftovers, you can add in a bit of milk to make them creamy).
Stir around for 3-4 more minutes, until everything is incorporated well.
Then turn off the stove and serve it hot! Garnish with lime slices and cilantro.