Soak the brown rice noodles in a bowl of very hot water for 8-10 minutes until tender but still firm to the bite, then drain.
In a small jar, whisk together the tamari, honey, lime juice, and peanut butter until the sauce is smooth and emulsified.
Heat the toasted sesame oil in a large skillet or wok over medium-high heat.
Add the minced garlic and red pepper flakes to the pan, sautéing for 30 seconds until fragrant.
Add the shrimp to the skillet and cook for 2-3 minutes until they turn pink and are just cooked through.
Push the shrimp to one side of the pan and crack the egg into the empty space, scrambling it quickly until fully set.
Add the drained noodles and the prepared sauce to the skillet, tossing everything together for 1 minute to coat the noodles evenly.
Fold in the fresh bean sprouts and sliced green onions, removing from heat immediately to keep the vegetables crisp.
Transfer to a plate and garnish with fresh cilantro before serving.