Heat a medium frying pan on medium-high and spritz with olive oil cooking spray. Once pre-heated, add shrimp; sauté, stirring occasionally, until lightly browned (about 5-7 minutes).
Add snap peas, bean sprouts, mushrooms and soy sauce. Continue cooking, stirring occasionally, until vegetables begin to soften (about 7-10 minutes). Remove from heat and allow to cool.
While waiting for cooked ingredients to cool, blend together dressing ingredients in food processor or blender until creamy. Pour into a small container and place in fridge.
Divide soba noodles, shrimp mixture, and remaining ingredients (reserving garnish) evenly into bowls or food storage containers.
Drizzle ¼ cup peanut sauce over each dish.
Garnish each with 1 tbsp sesame seeds, 1 tbsp peanuts and 1 tbsp cilantro.