Spiralize zucchini using a zucchini spiralizer. Alternatively, you can buy pre-spiralized zucchini. Place the zucchini noodles on a clean dish towel to rest while you prep the remaining ingredients.
Make the sauce: In a jar or medium bowl, whisk together the peanut butter, 2 tablespoons of sesame oil, soy sauce, sesame seeds, rice vinegar, ginger, and red pepper flakes.
Marinade the chicken: Place chicken in a medium bowl with salt, pepper, and 2 tablespoons of sauce. Let marinate for 15 minutes.
Heat a large nonstick skillet over medium heat. Add the remaining 1/2 tablespoon of sesame oil and the marinated chicken. Cook for about 7-10 minutes, stirring occasionally, until cooked through (reaching at least 160°F on an instant-read thermometer). Mix in the garlic and cook for 2-3 minutes over medium heat until the garlic has cooked through.
Add remaining sauce and simmer for 2 minutes or until it has reduced by half and thickened.
Add spiralized zucchini and toss everything together, cooking for 1 minute on medium heat. Be sure not to overcook the zucchini, cook until just tender.