Soak the brown rice noodles in a bowl of very hot water for 8-10 minutes until tender but firm, then drain and set aside.
In a small jar, whisk together the tamari, lime juice, maple syrup, and red pepper flakes to create the Pad Thai sauce.
Heat the sesame oil in a large non-stick skillet or wok over medium-high heat.
Add the shrimp to the pan and sauté for 2-3 minutes until they turn 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, bean sprouts, and half of the green onions to the pan.
Pour the sauce over the mixture and toss everything together for 1-2 minutes until the noodles are well-coated and the sauce has thickened slightly.
Remove from heat and garnish with the remaining green onions, crushed roasted peanuts, and fresh cilantro before serving.