Bring a large pot of salted water to a boil. Cook the noodles according to the package directions until tender. Drain well and rinse briefly with cool water if serving as a chilled noodle dish.
While the noodles cook, prepare the sesame sauce. Add tahini, soy sauce, maple syrup, rice vinegar, sesame oil, garlic, ginger, lime juice, sriracha, and warm water to a mixing bowl.
Whisk the sauce until smooth and creamy. If the sauce is too thick, add a little more warm water until it reaches a silky consistency that can easily coat the noodles.
Heat sesame oil in a large skillet over medium heat. Add the bell pepper and carrots and sauté for 2–3 minutes until slightly softened while keeping some crunch.
Add the cooked noodles to the skillet and pour the sesame sauce over the top. Toss everything together until the noodles are evenly coated.
Add the cucumber, edamame, and green onions. Gently mix until the vegetables are distributed throughout the noodles.
Taste and adjust the flavors as needed. Add more soy sauce for saltiness, lime juice for freshness, or chili sauce for extra heat.
Serve the sesame noodles warm or chilled, topped with sesame seeds, fresh cilantro, and additional green onions.