1. For the dressing: Peel and grate ginger. Drain oranges, reserving 1/4 cup juice for every 4 servings you are preparing. Set oranges aside.
2. Combine peanut butter, vinegar, sesame oil, and sriracha sauce in a medium skillet over medium heat. Season with salt and black pepper, to taste.
3. Heat, stirring continually, until the peanut butter melts and the ingredients are thoroughly combined, approximately 2-3 minutes.
4. Reduce heat to low and whisk in remaining dressing ingredients, including juice from oranges, until combined.
5. Simmer, stirring occasionally, until heated through, approximately 2 minutes. Remove from heat and set aside. Keep warm.
6. For the salad: Thinly slice bell pepper. Slice green parts of onions and discard the roots. Coarsely chop cilantro and peanuts.
7. Combine coleslaw, bell pepper, green onions, and fresh cilantro in a large bowl. Season with salt and black pepper, to taste.
8. Drizzle with a small amount of the warm peanut dressing. Toss to combine.
9. Transfer salad to a decorative serving platter and top with chopped peanuts, Mandarin oranges, and sesame seeds.
10. Serve immediately with remaining peanut dressing on the side. Enjoy!