Whisk together all the dressing ingredients in a small bowl. Set aside.
Bring two big pots of water to a boil. In one pot, cook the soba noodles according to package directions. Then drain and rinse under cool water. Cook the edamame in the other pot for about 5 minutes. Add the peas to the boiling water and cook for a minute. Drain and rinse.
Combine the soba noodles, edamame, snap peas and carrots in a large serving bowl. Pour in the dressing and toss with salad servers. Toss in the chopped cilantro and toasted sesame seeds.