Bring 2-3 quarts of water to a light boil in a large saucepan.

Heat the sesame oil in a large skillet or wok over medium heat and add the garlic. Cook until softened, about 2 minutes. Add the thawed stir-fry vegetables and cook until heated through, about 5 minutes.

Add the Soba noodles to the saucepan containing the boiling water. Cook until tender, about 3 minutes.

Meanwhile, add the soy sauce, peanut butter, and honey to the skillet containing the vegetables. Stir until well combined. Add the chopped green onions and peanuts, stir, and turn off the heat. Add the cooked Soba noodles and stir until everything is well combined. Serve.