To make the sauce, place all the sauce ingredients into a small bowl, whisk until well combined, then set aside.
Bring two big pots of water to a boil. In one pot, cook the soba noodles just until al dente, according to instructions on packaging.
In the second pot, cook the frozen edamame until warmed through, about 4- 6 minutes. Before draining, toss the sugar snap peas into the boiling water and cook for an additional 20 seconds, then drain.
Combine the soba noodles, edamame, sugar snap peas and carrots in a large serving bowl. Pour over the sauce and toss to combine. To serve, sprinkle over the chopped cilantro and sesame seeds.