Heat 1 tablespoon sesame oil in a medium sized skillet. Add the peanuts and saute for 2-3 minutes until they turn a dark brown color (be careful not to burn). Remove from heat and set aside for later use.
In a large skillet, heat the other tablespoon sesame oil over medium heat. Add the scallions, asparagus, and zucchini and saute until slightly brown.
While the veggies are cooking, combine the peanut butter, soy sauce (be sure to use low-sodium or else the sauce will taste extremely salty...), lime juice, ginger, and garlic in a small sauce pan over medium heat. Cook for a few minutes, stirring constantly, until everything has reached a smooth consistency (the peanut butter may cause it to be a little clumpy, especially if you use an oil-free version...but it will still taste just as delicious).
Remove the sauce from heat and pour over the veggies. Add the edamame beans, peanuts, mint, and cilantro. Mix everything together. Serve and enjoy!