In a large pot of hot tap water, soak the noodles until al dente, 15 minutes, changing the water halfway through. Drain and season to taste with salt.
In a medium bowl, whisk the peanut butter, rice vinegar, soy sauce and 3 tbsp. warm water until smooth.
Divide the noodles among plates and top with the carrot, apple, shrimp and edamame. Drizzle with the peanut dressing and sprinkle with the cilantro.