1In 2-quart saucepan, heat rice and water to boiling. Reduce heat to low; cover and simmer 15 minutes. Meanwhile, in small bowl, beat peanut butter, yogurt, teriyaki marinade and honey with wire whisk until smooth; set aside.
2In 12-inch skillet, heat 1 tablespoon of the oil over medium heat. Add tempeh; cook 5 to 6 minutes, turning frequently, until light golden brown. Remove tempeh from skillet; set aside.
3To same skillet, add remaining tablespoon oil and the onion; cook 1 minute, stirring occasionally. Stir in carrots, green beans and water. Cover; cook 5 minutes. Stir in bell pepper. Cook 2 to 3 minutes, stirring occasionally, until vegetables are crisp-tender.
4Stir in tempeh and peanut butter mixture until well mixed. Cook 1 to 2 minutes, stirring occasionally, until hot. Sprinkle with cilantro.