Bring a pot of water to boil and prepare noodles according to package directions.
Microwave the frozen vegetables in a microwave safe container, covered with a paper towel for 3-5 minutes.
While the broccoli and pasta cook, prepare the sauce. In a bowl, combine the peanut butter, water, soy sauce, canola oil, lime juice, and garlic. Whisk well until smooth.
Drain the cooked pasta noodles and add to the sauce. Lastly, add in the cooked vegetables and toss to combine.
Garnish with green onion, cilantro, or parsley.