Measure out the peanut butter and add it to a small saucepan.
Add the soy sauce, rice vinegar, and minced garlic to the saucepan with the peanut butter.
Pour in the warm water and whisk everything together over low heat until the mixture is smooth, glossy, and heated through, about 2-3 minutes. You’ll notice the sauce thickening and becoming fragrant with garlic and toasted peanut aroma.
If the sauce is too thick, add a little more warm water, whisking until you reach your desired pourable consistency.
Once the sauce is silky, fragrant, and heated evenly, remove it from the heat.
Pour the sauce into a bowl or serve immediately drizzled over stir-fried vegetables, noodles, or grilled meats. Enjoy the rich, nutty flavor with a savory umami kick!