Heat the avocado oil in a small saucepan over medium heat.
Add the minced shallots and garlic to the pan and sauté for 2-3 minutes, until softened and fragrant.
Step 2: Make the Sauce Base
Add the water, rock sugar (or table sugar), and vinegar to the saucepan. Stir to dissolve the sugar, and bring the mixture to a gentle simmer.
Step 3: Add Peanut Butter and Hoisin Sauce
Stir in the peanut butter and hoisin sauce, continuing to cook over medium heat until the peanut butter is fully melted and the sauce is smooth.
Step 4: Adjust the Consistency
Add the milk gradually, stirring to achieve the desired consistency. For a thinner sauce, add more milk as needed. Keep simmering for an additional 1-2 minutes to allow the flavors to meld together.
Step 5: Serve
Remove from heat and allow the sauce to cool slightly before serving.
Serve as a dipping sauce for Vietnamese shrimp spring rolls or drizzle over other Asian-inspired dishes.
Serving and Storage Tips
Peanut Dipping Sauce for Vietnamese Shrimp Spring Rolls: A Rich and Flavorful Dip
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