Finely chop the shallots and, together with a clove of garlic, mashed with 2-3 pinches of salt, transfer to a blender. Add rice vinegar, ginger, soy sauce and warmed sesame oil. Season with salt and ground hot red pepper to taste.
Grind everything to a puree. With the blender running, pour in the peanut butter while continuing to beat. Taste and add spices if needed.