1. In 3-quart saucepan, heat 4 cups water to boiling. Remove from heat; add noodles (push noodles into water with back of spoon to cover completely with water if necessary). Soak noodles 3 to 5 minutes or until noodles are soft but firm. Drain noodles; rinse with cold water. Set aside.
2. Meanwhile, in medium bowl, beat cooking sauce, peanut butter, lime juice and soy sauce with whisk until smooth; set aside.
3. Spray 10-inch skillet with cooking spray; heat over medium-high heat. Add chicken; cook and stir 4 to 5 minutes or until no longer pink in center. Add sauce mixture; heat to boiling, stirring frequently. Stir in noodles until thoroughly mixed. Cook 2 to 3 minutes, tossing with 2 wooden spoons, until heated through and noodles are tender. Sprinkle with peanuts and cilantro. Serve with lime wedges. Serve immediately.