Steam red and sweet potatoes until just tender, about 8 minutes. Set aside to cool. In medium saucepan, over very low heat, combine peanut butter with 1 cup water, and tamari, stirring until smooth. Add balsamic vinegar, sesame oil, molasses, hot sauce, black pepper, and 1/2 teaspoon crushed red peppers. Heat through and set aside. In large saucepan, saute onion, carrot and red pepper in canola oil until soft. Add garlic, ginger and 1/2 teaspoon red pepper flakes and saute 3 minutes longer. Add tomatoes, peanut sauce and seasonings and simmer over low heat 20 minutes, stirring often. Add potatoes, chopped peanuts and cilantro and serve.