In large bowl, soak noodles in boiling water about 10 minutes or until soft. Drain; set aside.
Meanwhile, in small bowl, mix sauce ingredients; set aside.
In wok or large heavy skillet, heat 2 tablespoons of the oil over medium-high heat. Add garlic and onions; stir-fry 2 minutes. Add chicken and soy sauce; stir-fry 3 to 5 minutes longer until chicken is no longer pink in center. Remove chicken to plate; cover to keep warm.
In wok, heat remaining 2 tablespoons oil over medium-high heat. Add eggs; cook 2 to 3 minutes, stirring until scrambled and firm. Add softened noodles, sauce and chicken. Cook 2 minutes. Add bean sprouts; cook 2 to 3 minutes longer, stirring frequently, until noodles are tender and sprouts are no longer crisp. If mixture seems dry, stir in 1/4 cup water and cook until thoroughly heated.
Spoon into large serving bowl or individual bowls. Sprinkle with peanuts and cilantro.