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1. Place noodles in a large bowl. Bring 4 cups water to boiling; pour boiling water over noodles in bowl. Let stand for 10 minutes.
2. Meanwhile, heat oil in a large skillet over medium-high heat. Add shrimp, asparagus, and sweet pepper. Cook and stir for 3 to 5 minutes or until shrimp are opaque. Add peanut sauce; heat through.
3. Drain noodles. Divide noodles among shallow serving bowls, using a fork to twist noodles into nests. Top with shrimp mixture.