Spiralize the zucchinis and lightly pat them dry with paper towels to remove excess moisture. Set aside.
In a small bowl, whisk together peanut butter, tamarind paste, soy sauce, lime juice, sriracha, and maple syrup until smooth. Taste and adjust seasoning as needed.
Warm sesame oil in a large skillet or wok over medium heat. Add the carrots, bell peppers, and snap peas. Sauté for 3-4 minutes, until the texture is tender yet still slightly crisp.
If using tofu, shrimp, or chicken, add it to the pan and cook until done (tofu: golden, shrimp: pink, chicken: cooked through). Set aside.
In the same skillet, lightly sauté the zoodles for 1-2 minutes. Avoid overcooking to keep them firm and not soggy.
Add the cooked vegetables and protein back to the skillet with the zoodles. Pour the sauce over everything and gently toss to coat evenly. Cook for 1-2 minutes until heated through.
Plate the Zoodle Pad Thai and garnish with crushed peanuts, green onions, cilantro, and a lime wedge.