Preheat oven to 400°.
Remove the leaves from the cauliflower and then slice cauliflower long-ways into four even pieces (don't worry if they aren't perfect!) and place them on a baking sheet.
Brush cauliflower with olive oil and sprinkle with salt and pepper; cook for 15-20 minutes, or until cauliflower is tender and golden brown on edges.
While cauliflower is cooking, prep the sauce by combining all ingredients in a food processor blender and pulsing until smooth.
Drizzle peanut sauce over cauliflower OR scoop it into a small dish and dip cauliflower into sauce.