In a small pot, bring all of the ingredients to a boil, whisking constantly. Let simmer for 2 minutes or until the sauce thickens. Transfer to a bowl. Cover and let cool. Stir before serving.
CAULIFLOWER
With the rack in the middle position, preheat the oven to 450ºF (230ºC).
In a bowl, whisk together the yogurt, peanut butter, honey, cumin, sambal oelek, and garlic. Add the cauliflower and toss to coat in the marinade. Transfer the cauliflower to a non-stick baking sheet or a sheet lined with aluminum foil.
Bake for 15 to 20 minutes or until the cauliflower is tender, turning the florets partway through cooking. Finish under the broiler for 3 minutes.
Transfer the caulif lower to a serving platter alongside the lettuce leaves, cucumber, carrot, green onion, peanuts, cilantro, and satay sauce. Everyone can garnish their own lettuce leaves.