In a pan on medium-high heat, boil your rice noodles until cooked to your preference or al-dente (4-6 minutes depending on thickness).
Strain the noodles and set aside. In the same pan, add in your sesame oil, garlic, peanut butter, hoisin sauce, and milk and stir until well combined.
Toss in noodles with sauce, garnish with peanuts/sesame seeds/green onions (optional), and enjoy!