Combine vinegar, peanut butter, honey, sriracha sauce and soy sauce in a bowl. Stir well and set aside. Heat oil in large skillet over medium heat. Add chicken and stir-fry until cooked through and no longer pink. Add vegetables and stir-fry 2 minutes, or until vegetables are heated through. Stir in cooked noodles, sesame oil and reserved peanut butter sauce. Cook over low heat for 1 to 2 minutes, stirring occasionally to blend flavors. Serve hot or warm topped with cilantro.
