Place Roasted Garlic Peanut Sauce, lime juice and lime zest in a sauce pan. Place on low heat, stirring often.
Place the sesame seeds in a small pan and toast lightly in the oven at 350°F for about 8 minutes. Watch carefully to avoid burning and then set aside.
Place the pounded chicken breasts in a small zip lock bag. Pour in the sesame oil and coat thoroughly. In the meanwhile, bring a large pot of salted water to a boil. Heat a large sauté pan or grill pan. Add the chicken and cook until browned on each side (about 3-4 minutes per side) and remove from the heat. Tent to keep warm.
Cook the asparagus in the boiling water and then remove with a slotted spoon.
Bring the water back to a boil, adding additional water (if necessary) and cook pasta according to the directions. Drain.
Add the shredded carrots and chopped cilantro to the peanut sauce. Slice the chicken into strips.
Mix the pasta, sauce and asparagus together. Place on a large platter and lay chicken strips over the top. Garnish with sesame seeds and whole cilantro leaves and enjoy!
