Cook noodles according to package directions, omitting salt and fat. Drain.
Heat oil in a large saucepan over medium-high heat. Add mushrooms to pan; sauté 3 minutes or until tender. Add broth and next 6 ingredients (through serrano); bring to a boil. Cook 4 minutes. Stir in milk, lime juice, and Sambal oelek; reduce heat, and simmer 5 minutes. Add tofu; cook 5 minutes. Place about 1 cup noodles into each of 4 bowls. Ladle about 1 1/4 cups soup into each bowl; sprinkle each serving with 2 tablespoons green onions and 1 tablespoon cilantro.