In a mixing bowl, combine the peanut butter and soy sauce.
Add rice vinegar and honey (or maple syrup) to the bowl.
Drizzle in the sesame oil for added flavor.
Add minced garlic and grated ginger into the mixture.
Sprinkle in red pepper flakes if you like some heat.
Mix the ingredients thoroughly until well combined.
Gradually add warm water to reach your desired consistency.
Continue mixing until the sauce is smooth and creamy.
Taste and adjust seasoning if needed, adding more soy sauce or sweetener as desired.
Transfer to a serving dish and garnish with chopped peanuts.