Cook the soba noodles until al dente, about 7 minutes. Drain in a colander, and rinse with cold water. Transfer to a large bowl.
Meanwhile, in a small bowl, whisk together peanut butter, vinegar, soy sauce, sesame oil, and salt until well combined and smooth. Pour peanut sauce over the noodles. Add pea shoots, mango, and glaze; toss to combine. Sprinkle with chopped peanuts, and serve immediately.