For the peanut vinaigrette: Whisk together the peanut butter, vinegar, honey and sesame oil in a small bowl until smooth. Whisk in the canola oil and season with salt. Refrigerate in an airtight container until ready to serve.
For the kale salad: Preheat the oven to 375 degrees F. Line a baking sheet with paper towels.
Spread the garbanzo beans on the prepared baking sheet, rolling them lightly over the paper towels to remove excess liquid. Remove the paper towels, add the olive oil, and toss the garbanzos to coat. Bake until the garbanzos are deep golden brown and crispy, 25 minutes. Season immediately with salt. Let cool completely.
Combine the carrots, radishes, kale, cucumbers and peppers in a large bowl; season with salt. Dress the salad with about a third of the dressing; since the kale is such a sturdy green, it can be dressed an hour or two ahead. (Refrigerate the remaining dressing to use on other salads or as a marinade.) Just before serving, toss with the crispy garbanzo beans and roasted peanuts.