Make peanut sauce: add all ingredients to a bowl and whisk to combine. Adjust seasoning and consistency as desired.
Have all vegetables ready before assembling your rolls.
Prepare a shallow bowl filled with room temperature water and wet a flat work surface (cutting board or plate will work).
Soften rice paper by dipping it in water for 3-5 seconds or according to the package instructions. The rice paper should be slightly softened and bendable, but not floppy. It will continue to soften quickly as you add the fillings.
Place the soaked rice paper on wet work surface. Arrange your sliced avocado in the center, sprinkle on sesame seeds, then top with herbs and a little bit of each vegetable. Be careful not to overstuff rolls for easier wrapping.
Wet hands then wrap summer roll by folding the sides towards the middle, then folding the bottom side up and continuing to roll upwards until it is sealed. Repeat with the remaining rolls.
Serve with peanut sauce and enjoy immediately.