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Make the peanut sauce. In a medium bowl, combine the brown sugar and hot water. Stir until the sugar is dissolved, about 2 minutes. Add the peanut butter, soy sauce, vinegar, sesame oil, chili garlic sauce, and ground ginger. Whisk vigorously until the sauce comes together, about 1 minute. Add more hot water, 1 tablespoon at a time, until smooth. Taste and add salt as needed. Sprinkle the crushed peanuts on top of the sauce, if using.
Bring a large pot of water to a boil over high heat. Once the water is boiling, add the rice noodles and cook according to package instructions. Drain and rinse with cool water.
Meanwhile, slice each shrimp crosswise, as if you were butterflying them.
Fill a shallow bowl or pie dish with warm water. Working with one spring roll wrapper at a time, dip into the water and let soften, 8 to 10 seconds. Dampen the counter or a cutting board and lay the softened wrapper on top of the surface. Place half a piece of lettuce at the edge of the wrapper. Top with a small handful of noodles, carrot, red bell pepper and cucumber. Place a variety of herbs on the wrapper slightly above the vegetables, and then 3 shrimp halves slightly above the herbs.
Roll the wrapper, tightly, away from your body. Once you reach the shrimp, fold in the sides, then keep rolling. Repeat with the remaining rice wrappers and filling.
Serve with dipping sauces alongside. These rolls are best when eaten the day you make them. If making ahead, we recommend wrapping each in plastic wrap and placing them in the refrigerator for 1-2 days.
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