Place the brown rice noodles in a large bowl and cover with very hot water; let soak for 8-10 minutes until tender but firm, then drain.
In a small bowl, whisk together the tamari, lime juice, fish sauce, chili garlic sauce, and honey to create the pad thai sauce.
Heat the toasted sesame oil in a large non-stick skillet or wok over medium-high heat.
Add the minced garlic and grated ginger, sautéing for 30 seconds until fragrant.
Add the shrimp to the skillet and cook for 2 minutes per side until pink and opaque, then push them to one side of the pan.
Crack the egg into the empty side of the pan and scramble quickly until just set.
Add the drained noodles, pad thai sauce, and bean sprouts to the skillet, tossing everything together for 1-2 minutes until the sauce thickens and coats the noodles.
Remove from heat and stir in the sliced green onions.
Garnish with crushed roasted peanuts and fresh cilantro before serving.