Prepare the shrimp: Boil the shrimp in water for about 2-3 minutes or until they turn pink. Let them cool, then peel and slice each shrimp in half lengthwise.
Prepare the veggies and noodles: Cook the vermicelli noodles according to package instructions. Rinse under cold water, drain, and set aside. Julienne the carrot and cucumber.
Prepare the rice papers: In a large shallow dish, mix warm water and rice vinegar. Submerge one rice paper into the water for about 5-10 seconds, until it becomes soft and pliable. Carefully remove and lay it flat on a clean surface (like a damp towel or cutting board).
Assemble the rolls: On the rice paper, add a few leaves of lettuce, a handful of vermicelli noodles, a few pieces of shrimp, carrot, cucumber, and herbs (cilantro, mint, and basil).
Roll the rice papers: Carefully fold the sides of the rice paper inward, then roll up tightly, similar to how you would roll a burrito. Make sure it's tight, but not so tight that the rice paper tears.
Prepare the dipping sauce: In a small bowl, whisk together the peanut butter, hoisin sauce, soy sauce, rice vinegar, sugar, and crushed red pepper flakes. Gradually add warm water to thin the sauce to your desired consistency.
Serve: Serve the shrimp rice paper rolls with the peanut dipping sauce on the side.