Gather all ingredients and tools needed for preparation.
In a mixing bowl, combine the peanut butter and soy sauce.
Add the rice vinegar and honey (or maple syrup) to the bowl.
Stir in the chili garlic sauce and minced garlic.
Drizzle in the sesame oil for added flavor.
Gradually add warm water, mixing until smooth.
Taste and adjust the seasoning according to preference.
Transfer the sauce to a serving bowl.
Garnish with chopped peanuts and cilantro before serving.