In a large pot of salted water, cook noodles to desired doneness. Reserve 2/3 cup of water, then drain noodles.
In a small bowl whisk peanut butter, vinegar, 3 Tbsp soy sauce and sesame oil, set aside.
In a sauté pan, heat remaining sesame oil over medium-high heat. Add carrots, green onions, ginger and garlic; cook stirring for 2 minutes. Add pork and cook, breaking up meat with the back of a spoon until fully cooked.
Add broccoli, peanut mixture, reserved water and noodles to the pan. Toss to coat and heat through. Serve topped with cilantro.