Soak the brown rice noodles in a bowl of very hot water for about 10 minutes until they are pliable but still firm to the bite, then drain and set aside.
In a small jar or bowl, whisk together the tamari, fish sauce, maple syrup, tamarind paste, and lime juice until the sauce is smooth.
Heat the sesame oil in a large skillet or wok over medium-high heat.
Add the shrimp and minced garlic to the pan, sautéing for 2-3 minutes until the shrimp are pink and just cooked through.
Push the shrimp to one side of the pan and crack the egg into the empty space, scrambling it quickly with a spatula until just set.
Add the drained noodles and the prepared sauce to the skillet, tossing everything together vigorously to ensure the noodles are evenly coated and heated through.
Fold in the bean sprouts, sliced green onions, and red pepper flakes, cooking for just 1 minute until the sprouts are slightly softened but still crisp.
Remove from heat and serve immediately, garnished with crushed peanuts and fresh cilantro.