Cut the avocado, the carrots, the mango, the lettuce, and the purple cabbage into thing stripes.
When you're done cutting the veggies, fill a shallow bowl with water and dip the rice papers in water so they get moderately wet on both sides. Don't let them soak too long, so they don't get too soft.
First make the tofu (it's optional but really yummy): Cut the tofu into thin stripes (about 0.10 inches thick) and heat the sesame oil in a medium-sized pan. Add the tofu and the soy sauce and cook for about 4 minutes until the tofu is brown and crispy. Then add the sesame seeds and cook for another minute.
When you soaked the rice papers, fill them with the veggies and the tofu (if using) and wrap them like a burrito. I think it's best to center the filling and then roll it up and fold in the two side flaps.
Then make the peanut dipping sauce: In a medium bowl, combine the peanut butter with the soy sauce, the garlic, the warm water, and the sriracha sauce.
Serve the rice paper rolls with the peanut dipping sauce.
Notes
If you want the rice paper rolls to be soy-free, just leave out the tofu. The summer rolls will still be awesome without the tofu.
The rice paper rolls are naturally gluten-free. However, I used soy sauce for the peanut butter dipping sauce. If you need the whole meal to be 100 % gluten-free, just use tamari instead of soy sauce for the peanut sauce and for frying the tofu.
Make sure to cut up all of the vegetables first, so you have everything ready when you start dipping the rice paper into water.
Don’t dip the rice paper for too long or they will become too soft, delicate, and hard to roll.