Sauté Garlic: In a small saucepan over medium heat, lightly sauté the minced garlic until fragrant (about 30 seconds).
Whisk the Sauce: Add peanut butter, hoisin sauce, soy sauce, lime juice, sugar, and chili sauce (if using). Slowly whisk in warm water until the mixture is smooth and reaches your desired consistency.
Simmer: Let the sauce simmer for 2–3 minutes, stirring constantly. Adjust consistency with more water if needed.
Cool and Serve: Remove from heat and let cool slightly. Transfer to a serving bowl and top with crushed peanuts and chopped cilantro if desired.