I used this peanut sauce most recently. It is my favourite so far, but you can always “Google” around and find one that has ingredients you like. The last time I made this sauce I was out of hoisin sauce so I substituted a Vermont Maple bbq sauce and it worked out great.
Vietnamese Soft Rolls with Peanut Sauce (Chow.com)
I just made the sauce not the soft rolls. I’ll need to try the soft rolls on another day.