10 Minute Peanut Noodles

Name: 10 Minute Peanut Noodles
Ingredients: 8 ounces dried udon noodles (or 12 ounces fresh); 1/4 cup creamy natural peanut butter; 1 clove garlic (crushed (optional)); 1 tablespoons low sodium tamari or soy sauce (plus more to taste); 1 tablespoon unseasoned rice vinegar; 1 tablespoon brown sugar (agave, or maple syrup); 1 teaspoon toasted sesame oil; 1 teaspoon chili garlic sauce (sambal oelek or sriracha); 2-3 tablespoons hot water; Optional: crushed peanuts (chili oil, and green onion, for serving)