Cook the soba noodles according to package instructions. Drain and set aside.
In a small bowl, whisk together the soy sauce, sesame oil, honey, garlic, and ginger. Set aside.
Preheat grill to medium-high heat. Thread the shrimp onto skewers and brush with the sauce mixture.
Grill the shrimp for 2-3 minutes per side, until cooked through and slightly charred. Remove from grill and set aside.
In a large bowl, toss the cooked soba noodles with the remaining sauce mixture. Add the sesame seeds, green onions, cilantro, and peanuts. Mix well to combine.
Serve the sesame soba noodles topped with grilled shrimp.
Enjoy!