Preheat a large skillet to medium-high heat with cooking spray or a drizzle of olive oil. While the pan heats, combine the peanut butter, vinegar, sriracha, and soy sauce in a bowl with a whisk or fork. Mixture will be slightly lumpy. Taste, and add more sriracha to your taste, then set aside.
When the pan is hot, add the zucchini and bell pepper and toss for 3-5 minutes until charred on the outside but still crisp. Add the garlic, and cook for 1 minute more until fragrant. Add the drained bamboo shoots and turn off the heat.
To the pot you used to boil the spaghetti, toss the pasta, peanut sauce, veggies, and a splash of the reserved cooking water with tongs until combined. Taste, and add more cooking water to thin the sauce, more soy sauce for salt, or more sriracha for spice.
Serve in bowls topped with cabbage, scallions, sesame seeds, and a lime wedge.