Make the spicy sesame citrus sesame dressing: in a sealable jar, combine the orange juice, lime juice, agave nectar, gochujang, sesame seeds, grated ginger, salt, pepper, and avocado oil. Seal the lid on tight and give the jar a good shake. Check the dressing for seasoning, adjust if necessary, and set aside.
Set the frozen edamame in a small bowl and cover them with boiling water. Set aside.
Using a julienne peeler or spiralizer (affiliate links), turn the zucchini and cucumber into long noodle-like strands. The inner parts of each vegetable tend to have a lot of seeds that are hard to cut into strands. Save these parts for another use (like smoothies or a for juicing). Place the zucchini and cucumber “noodles” in a large bowl. Drain the edamame and add them to the bowl.
Peel the mango and cut it into matchsticks/thin strips. Add the mango to the large bowl. Lightly chop the soft herbs and add them to the bowl as well, reserving a few for garnish. Add the sprouts to the bowl as well.
Give the dressing one more shake and pour it over the veg and mango noodles. Toss everything to combine and lightly coat each vegetable “noodle” with dressing.
Garnish the top of the cold veg mango noodles with extra sesame seeds, herbs, and avocado. Serve immediately.