Cook noodles according to package directions, omitting salt and fat. Drain and set aside.
Heat canola oil in a large nonstick skillet over medium-high heat. Add onion, garlic, and mushrooms to pan; sauté 5 minutes or until tender. Add chicken, carrots, peas, and beans; cook 3 minutes or until thoroughly heated. Stir in sesame seeds, soy sauce, sesame oil, pepper, and noodles. Serve immediately.