In a mixing bowl, whisk together almond butter, soy sauce or tamari, rice vinegar, agave syrup or maple syrup, minced garlic, and grated ginger until well combined.
Add water, one tablespoon at a time, as needed to adjust the consistency to your liking. If you prefer a thinner sauce, add more water; if you prefer a thicker sauce, use less water.
Stir in chopped cilantro (if using) for added freshness and flavor.
Taste and adjust the seasoning with crushed red pepper flakes (if desired) or additional soy sauce/tamari or sweetener, as desired.
Transfer the vegan satay dipping sauce to a serving bowl and garnish with a sprinkle of crushed red pepper flakes (if desired)