Here is an easy, 3-step version for a dipping sauce for summer rolls or other finger foods.

Ingredients:
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100 gr. roasted and salty peanuts (I just use the canned ones from the supermarket)
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1 tsp. of sugar
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½ tbsp. of light soy sauce
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½ cup of water
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1 tbsp. of sesame oil
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Roasted sesame seeds (optional)
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Chili paste (optional)
Directions:
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First, grind the peanuts as fine as possible in a blender
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In a small pot, add water, sugar, soy sauce and ground peanuts. Mix them well, bring it to a boil, and then turn off the heat.
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Before serving it in a bowl, add sesame oil, roasted sesame seeds (optional) and some chili paste (optional)