I love these noodles warm, but you can eat them cold. I've also added chicken breast to it for something different. I eat this as a 1-serving meal, but you can use it as a side dish. I got this recipe from Rachael Ray's 30-Minute Meals show.
Whisk peanut butter, soy, oil and sesame oil. Add noodles and toss to coat. (If the noodles are warm, they will soak up all this peanut-buttery good sauce). Sprinkle with sesame seeds and green onions.
I prefer to eat this warm -- I think it has better flavor than when it's cold, but do whichever you like best.