Whisk peanut butter, soy sauce, maple syrup, lime juice, red pepper flakes, and water in a bowl. Set aside.
Heat sesame oil in a wok over medium-high heat.
Sauté garlic and ginger for 30 seconds until fragrant.
Add bell pepper, broccoli, zucchini, carrot, and snap peas. Stir-fry for 5–6 minutes until tender but crisp.
Pour peanut sauce over the vegetables and toss until evenly coated.
Cook for another 2 minutes, allowing the sauce to thicken slightly.
Serve immediately over jasmine rice or noodles.
Garnish with peanuts, sesame seeds, and cilantro. Enjoy!