Prepare udon noodles according to packaging. Once done, rinse in cold water and drain.
In a medium bowl, combine all ingredients for vinaigrette. Whisk together well and set aside.
In a large bowl, combine cooked and cooled udon noodles and all remaining ingredients (cucumber through sesame). Toss together lightly, then pour vinaigrette over the top. Again, toss to fully saturate, then serve.