Start water boiling for noodles
Chop toppings and set aside (peel and julienne the cucumber into 2 inch long segments, chop the cilantro, cut lime into wedges, slice the avocado)
Cook the noodles in boiling water about 5 minutes, until tender (don't over cook)
Drain and rinse with cold water, toss with a teaspoon sesame oil
Set noodles aside
In mixing bowl, whisk together 2 Tablespoons sesame oil, soy sauce, rice vinegar, tahini, peanut butter, sugar, ginger, garlic, and chili garlic paste.
Pour sauce over noodles and toss with tongs until noodles are covered with sauce.
Grill shrimp on grill pan, 2 minutes each side or until pink