In a bowl, whisk together peanut butter, almond milk, garlic, soy sauce (or coconut aminos), Thai chili paste, sesame oil, and lime juice until well combined. Feel free to add a teaspoon of water at a time until the sauce is desired consistency. It should be slightly thick and not too watery. Set aside.
In a large bowl, add an inch of room temperature water. Place one rice wrapper into the water and let soak for just 10-12 seconds. Transfer to a cutting board. The wrapper will continue to soften so make sure not to soak for more than 12 seconds.
Place a few slices of mango, red bell peppers, carrots, and cucumber in the center of the wrapper then roll the rice paper in and around the veggies into a roll. Repeat until all the ingredients are in all the wrappers. Serve with spicy peanut sauce. Enjoy!