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Heat covered 5- to 6-quart saucepot of water and 1 teaspoon salt to boiling over high heat. Add noodles and cook 4 minutes. Add carrots and cook 1 minute. Add shrimp and snow peas and cook 2 minutes more. Reserve 1/2 cup pasta cooking water. Drain noodles, shrimp, and vegetables into large colander. Transfer noodle mixture to large bowl.
With whisk, beat reserved cooking water into peanut-butter mixture until well blended. Add peanut sauce and chopped cilantro leaves to noodle mixture in bowl and toss until evenly coated.
To serve, spoon into 4 large bowls; garnish each serving with a cilantro sprig.