Cook vermicelli noodles according to package directions, drain, and let cool completely.
Prepare all vegetables, mango, avocado, and herbs as listed and arrange on a large platter.
Fill a large shallow dish with warm water. Dip one rice paper wrapper in water briefly until softened, then lay flat on a clean work surface.
Place a small portion of noodles in the center of the wrapper, leaving space around edges.
Add tofu strips, julienned vegetables, mango slices, avocado, jalapeño, and a few leaves of each herb on top of noodles.
Fold the bottom edge of the wrapper over the filling, then fold in the sides and roll tightly forward.
Repeat process with remaining wrappers and filling.
Serve immediately with peanut sauce for dipping.