And is it not written, "And Moses said, You too shall give into our hands sacrifices and burnt offerings" (Exodus 10:25)? Sacrifices for eating and burnt offerings for offering up. And is it not written, "And Jethro the father-in-law of Moses took a burnt offering and sacrifices for God" (Exodus 18:12)? Jethro was after the giving of the Torah. And according to the one who says he was before the giving of the Torah, what is there to say? He holds that the Noahides did offer peace offerings.
Jethro's Offering and Whether Noahides Brought Peace Offerings
Yalkut Shimoni on Torah 36:1
וְהָכְתִיב "וַיֹּאמֶר מֹשֶׁה גַּם אַתָּה תִּתֵּן בְּיָדֵנוּ זְבָחִים וְעֹלֹת", זְבָחִים לַאֲכִילָה וְעוֹלוֹת לְהַקְרָבָה. וְהָכְתִיב (שם יח, יב) "וַיִּקַּח יִתְרוֹ חֹתֵן מֹשֶׁה עֹלָה וּזְבָחִים לֵאלֹהִים" יִתְרוֹ אַחַר מַתַּן תּוֹרָה הֲוָה. וּלְמַאן דְּאָמַר קֹדֶם מַתַּן תּוֹרָה הֲוָה מַאי אִכָּא לְמֵימָר, קַסָּבַר קָרְבוּ שְׁלָמִים לִבְנֵי נֹחַ.