I've had this salad at Panera's several times, looking at the book version posted here I could have told you that it did not have red pepper or soy sauce in it. As a culinary school grad, I would say the dressing is:

1/4 cup rice wine vinegar
2 Tbsp white sugar
1/2 cup sesame oil

Heat the vinegar and sugar until sugar disolves, cool.
Slowly whisk the oil into the cooled vinegar, chill, and use as needed.

I don't believe there is cilantro in it, it's a very clean and very sweet sesame dressing, plain and simple.