Prepare all the vegetables by washing and cutting them into thin strips or julienne. Keep them organized in separate bowls for easy assembly.
Fill a shallow dish or a large skillet with warm water (not boiling). Dip one rice paper wrapper into the water for about 10-15 seconds until it softens but still has some firmness.
Lay the softened rice paper on a clean surface, such as a cutting board, and place a small handful of each of the shredded vegetables starting from the lower third of the wrapper. Add a few slices of avocado and mint/cilantro leaves on top.
Sprinkle a few sesame seeds over the vegetables if using.
Starting from the bottom edge, fold the wrapper over the filling. Tuck in the sides and roll it up tightly to encase the filling, similar to a burrito. Repeat with the remaining rice paper wrappers and filling ingredients.
For the dipping sauce, in a small bowl, whisk together hoisin sauce, peanut butter, lime juice, and chili sauce until well combined.
Serve the spring rolls on a platter, garnished with crushed peanuts and alongside the dipping sauce for a delightful experience.
Notes
Feel free to customize the vegetables based on your preference.