In a large pot over medium heat add the olive oil, garlic, ginger and onion. Season to taste with salt and pepper. Cook until onion begins to turn translucent, about 5 minutes. Add the mushrooms and carrots. Cook until vegetables soften, about 5 minutes.
Pour in the broth, soy sauce and sesame oil. Bring to a simmer and cover with lid. Cook for 15 minutes. Stir in the bok choy and udon noodles. Continue cooking until bok choy is cooked throughout, about 5 minutes. Serve immediately. Garnish with fresh cilantro, if desired.
This nutritional information refers to each serving of the entire recipe and not just the products used as ingredients.