For the dressing, combine all of the ingredients except for the cilantro in a blender and process until completely smooth. Add the cilantro and blend for a few seconds until the cilantro is finely chopped. Refrigerate until ready to serve.
For the salad, combine all of the ingredients in a large bowl and toss to combine. If serving right away, drizzle the peanut dressing over top and toss; otherwise, serve the dressing on the side so the salad doesn't get soggy.
In a medium non-stick skillet over medium heat, heat peanut oil and add seitan, ginger and garlic, and saute until ginger and garlic are fragrant and cooked, about 3-4 minutes. Add tamari and cook a minute more. Remove from heat and let cool to room temperature. In a large bowl, combine seitan, noodles and veggies. In a medium bowl, whisk together dressing ingredients until smooth, then pour over veggies in the larger bowl. Toss to coat, sprinkle with sesame seeds, and serve!