1. Chop broccoli into bite-size pieces and steam 2-3 minutes or until tender-crisp.
2. Drain and rinse shirataki. It will smell a little funky at this point. Microwave the noodles for 1 minute and drain well a second time (or else the sauce will get watered down too much).
3. In a bowl large enough to hold the noodles and broccoli, whisk together the peanut butter and hot water until smooth. Add soy sauce, Worcestershire, garlic, agave, and cayenne. Taste and adjust the balance of sweet and hot flavors to your liking.
4. Toss the noodles and broccoli into the sauce. Serve with peanuts, red pepper, and cilantro for garnishing, if desired.