To make the dressing, add the peanut butter, rice vinegar, sesame oil, and sriracha to a medium skillet set over medium heat. Season lightly with sea salt and black pepper. Stir continuously until the peanut butter melts and the mixture is smooth, about 2 to 3 minutes.
Reduce the heat to low and whisk in the tamari, maple syrup, lime juice, ginger, garlic, and Mandarin orange liquid. Simmer gently, stirring occasionally, until the dressing is warmed through, about 2 minutes. Remove from heat and keep warm.
In a large bowl, combine the green cabbage, red cabbage, carrots, bell pepper, green onions, and cilantro. Season lightly with sea salt and black pepper.
Drizzle a small amount of the warm peanut dressing over the salad and toss until evenly coated.
Transfer the salad to a serving platter and top with toasted peanuts, Mandarin oranges, and sesame seeds. Serve immediately with remaining dressing on the side.