Heat the soup, peanut butter, soy sauce, lime juice, brown sugar and red pepper in a 12-inch skillet over medium-high heat to a boil. Reduce the heat to low. Add the chicken and cook until the mixture is hot and bubbling. Remove the skillet from the heat.
Add the pasta and coleslaw mix to the skillet and toss to coat. Sprinkle with the peanuts and cilantro, if desired.