In a small saucepan combine the vinegar, water & sugar. Bring to a boil and boil for 5 minutes, stirring occasionally to make sure the sugar is dissolved. Remove from heat and allow the mixture to cool. Put the peanuts and vinegar-sugar mixture into a food processor or blender and puree until smooth. Add the ginger, garlic, cilantro, red pepper flakes, and salt, and mix well. Add the soy sauce and sesame oil and beat until well integrated into the peanut mixture. This sauce will keep 10 days, covered in the refrigerator. Warm slightly before serving.