Bring a large pot of heavily salted water to a boil. Add brown rice noodles and cook according to package directions. Drain, rinse with cold water, and drain again. Return noodles to pot.
Meanwhile, make the sauce by combining coconut milk, water, maple syrup, soy sauce, peanut butter, chili-garlic sauce, ginger and garlic in a medium saucepan. Let cook over medium heat, whisking frequently, until sauce comes together and thickens.
Remove from heat and mix in lime juice and sesame oil.
Toss hot noodles with the sauce, scallions, and carrots.
Garnish with peanuts and cilantro and serve. Any leftovers can be served warm or cold the next day for a delicious lunch.