While the rice is cooking, make the peanut maple dipping sauce by combining all the sauce ingredients together in a food processor/blender. Pour into serving bowls or ramekins and set aside.
Once the rice is cool enough to handle, spread a thin layer of rice over each nori sheet. Place 2-3 strips of avocado on top of the rice, then add a line of peanuts (not too many or it will be hard to roll).
Roll the sushi and place in the fridge for about 10-15 minutes to make it easier to cut. Using a sharp knife, slice the sushi rolls into 1-inch pieces.
Serve with the dipping sauce and garnish with sesame seeds, if desired.
I have found warm, sticky rice works the best for rolling. Place the rice in the freezer to cool if it is still too hot to touch. I also have a bowl of water to keep my fingers wet while rolling to make it easier (since the rice is so sticky). There are plenty of videos online to watch on how to roll sushi, if you need help.