Cook rice according to package directions, omitting salt and fat. Set rice aside, and keep warm.
Cut steak diagonally across grain into 1-inch-thick slices. Combine steak, garlic, and pepper in a bowl; toss well to coat. Combine soy sauce, cornstarch, and sugar in a small bowl, stirring with a whisk until smooth.
Heat oil in a large nonstick skillet over medium-high heat. Add sugar snap peas to pan, and stir-fry 1 minute. Add meat mixture to pan, and stir-fry 2 minutes. Add soy sauce mixture to pan; stir-fry 1 minute or until sauce is slightly thick. Place about 1/2 cup rice on each of 4 plates; top each serving with about 1 1/4 cups steak mixture. Sprinkle each serving evenly with 1 tablespoon chopped cilantro and 2 1/4 teaspoons chopped peanuts.