Place shrimp in a medium sized mixing bowl with garlic, salt, pepper, red pepper flakes, lime juice & zest. Allow to marinate for 10-15 minutes.
Heat oil in cast iron skillet. When oil is hot, add shrimp and cook for 3-4 minutes, or until shrimp are pink and cooked through.
Hold each wrapper under warm water for 20-25 seconds, until it becomes flexible.
Place onto clean surface, and arrange a combination of shrimp, noodles, bell pepper, avocado, carrots, cucumber, cabbage and herbs across the center of the wrapper; fold both ends over the filling and then roll up tightly from the edge closest to you. Repeat for the remaining rolls.
To make the peanut sauce, combine all ingredients in small bowl, and stir until smooth and creamy.