Bring a large pot of water to a boil, salt it, add the pasta and cook until al dente according to package directions. Add the carrots in with the pasta for the last minute. Drain and set aside.

While the pasta is cooking, in a large bowl, whisk together the peanut butter, honey and ¼ cup warm water. Whisk in the soy sauce, lime juice, hot pepper sauce and garlic. Pour in the oil in a steady stream, whisking to combine.

Heat the sauce in a saucepan until warm. Mix the drained noodles, sauce, and remaining ingredients in a large bowl and top with the peanuts and parsley.