Shrimp - Defrost, pat dry, and season with some salt and pepper.
Make sauce - Mince garlic. Whisk together garlic, soy sauce, Hoisin, peanut butter, vinegar, sesame oil, Sriracha (if using) and water. Taste; if it’s too salty, add more water; if it's too sweet, add more soy sauce. (Can be done up to 5 days ahead)
Snap peas / Peanuts / Limes - Prep as directed. (Can be done up to 3 days ahead)
Carrots - Grate using a box grater or make 'noodles' with a spiralizer. (Can be done up to 3 days ahead)
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Heat a saute pan or wok over high heat. Add oil. When oil begins to shimmer add snap peas and carrots. Saute until carrots begin to soften, ~1 minute. Add shrimp and saute until shrimp is opaque, ~3 to 4 minutes (depending on size). Add sauce and cook until it begins to simmer and thicken, ~2 minutes.
Remove pan from heat and add noodles, tossing to coat. Top with peanuts and a squeeze of lime juice. Serve with extra lime wedges on the side!