Whisk together the peanut butter, soy sauce, rice vinegar, sesame oil, honey, sambal oelek, ginger, garlic, and lime juice in a bowl until smooth.
Add 3 to 4 tablespoons water, one tablespoon at a time, until the sauce is pourable but still thick.
Bring a saucepan of water to a boil.
Cook the rice noodles according to package directions until just tender. Drain and rinse under cold water.
Add the noodles to a large bowl, top with the peanut sauce, and toss well to coat.
Divide the noodles among bowls.
Top the noodles with the cucumbers, scallion, sliced shallot, crispy shallots, sesame seeds, and a spoonful of chili crisp. Garnish with fresh cilantro.
Serve the sweet heat peanut butter noodles immediately.