Rinse and dry vegetables. Thinly slice the carrots and cucumber into julienned strips (¼ inch by ¼ by about 3 inches). Cut the top off of the yellow pepper, discard the seeds and membrane, then thinly slice. Cut the tofu into strips slightly thicker than the vegetables. Cut the avocado down the middle, and twist to remove pit, remove peel and slice each half into about 8 slices.
To cook noodles, bring a medium pot of water to a boil. Cover noodles with boiling water, remove from heat and let sit for about 20 minutes, or until soft. Drain and rinse with cold water to stop the cooking process.
Pick mint leaves from stems and lay out all prepared ingredients to begin assembly of summer rolls.
Place rice wrapper onto a shallow plate of cool water to dampen, allow it to soak in water for 10 seconds then lay out on flat clean surface. Remove from water and repeat with second wrapper. Place the two wrappers on top of each other, adding a small amount of noodles on top followed by vegetables, mint, tofu and avocado.
To roll, fold in the sides and slowly roll away from you, tucking in any lose items. The rice paper will stick to itself on the last roll and create a seal. Continue this process for all summer rolls.
To make peanut sauce, mix tamari, sweet chili sauce, and peanut butter in microwave safe bowl. Microwave on high for 20 seconds and stir. Serve with summer rolls and enjoy!