Combine five level tbsp. of smooth peanut butter with five tbsp. whole milk in a medium mixing bowl. Use a wire whisk to thoroughly incorporate the milk into the peanut butter until a smooth consistency is achieved.

Add five tbsp. of sweet soy sauce to the peanut butter mixture. Stir well using a whisk or fork to combine. If the peanut satay sauce is too thick or you're having trouble mixing, add ½ tsp. milk and stir again.

Add one tsp. fresh lemon juice and one tbsp. granulated sugar to the sauce mixture. Stir thoroughly to combine. Bottled lemon juice may be substituted, if fresh is not available.

Add ¼ tsp. crushed red pepper flakes to the sauce, if you want more spice, and stir well. Use the same amount of freshly ground black pepper for a less spicy sauce, or omit the pepper all together, if desired.

Cover the bowl containing the peanut satay sauce, and allow it to sit undisturbed for 30 to 45 minutes before using. This will give the flavors a chance to meld and can make all the difference in the taste of the sauce.