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Wrap a bamboo mat in plastic wrap and place one sheet of nori over top. Keep a small bowl of water nearby and wet your fingertips.
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Distribute half of your rice in an even layer over nori. Sprinkle with half of your sesame seeds.
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Carefully invert your rice covered nori, so that the rice layer sits on the plastic wrap and nori is face up.
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Take half of your peanut mixture and arrange into a strip extending width wise across your nori, about an inch away from you. Press the mixture together as you do this, to get it nice and firm.
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Arrange half of avocado slices alongside your peanut strip.
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Carefully roll the end of the nori closest to you over your peanut/avocado strip, tucking and squeezing to get it nice and tight. Continue rolling until you reach the end.
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Take your roll and place it seam side down on a cutting board. Using a big, sharp knife, cut into eight pieces.
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Repeat using remaining ingredients.
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Serve with wasabi, soy sauce and pickled ginger.