Add the ingredients for the peanut sauce (peanut butter, soy sauce, rice vinegar, agave, garlic, and chili crunch) into a large bowl and mix.
Add the cucumbers, carrots, onions, and cilantro. Toss everything together until well combined and all the vegetables are evenly coated in the peanut sauce.
Transfer to a bowl or serving plate and garnish with sesame seeds.