Gather all ingredients and kitchen tools.
In a mixing bowl, add the peanut butter.
Pour in the soy sauce and honey or maple syrup.
Add rice vinegar and sesame oil.
Incorporate minced garlic and grated ginger.
Slowly add warm water to the mixture.
Whisk until the sauce reaches your desired consistency.
Taste and adjust seasoning as needed.
Transfer the sauce to a serving bowl.
Garnish with crushed peanuts and fresh cilantro.