All the JEs have half-boiled.
生茹で	903	56.1%
生ゆで	612	38.0%
なまゆで	94	5.8%

@@ -5,0 +6,3 @@
+</k_ele>
+<k_ele>
+<keb>生ゆで</keb>
@@ -13 +16,3 @@
-<gloss>insufficiently boiled (undercooked)</gloss>
+<gloss>half-boiled</gloss>
+<gloss>insufficiently boiled</gloss>
+<gloss>underdone</gloss>

https://eow.alc.co.jp/search?q=half-boiled
half-boiled egg
半熟（の）卵

デジタル大辞泉 
ゆで方が不十分であること。また、そのもの。

sankoku:
ゆでかたじゅうぶんではない＜こと・もの＞

https://www.collinsdictionary.com/dictionary/english/half-baked
half-baked
1. insufficiently baked

to avoid undercooking
https://twitter.com/saki_mensen/status/1676603785295065089
...
2.鍋の中ぐるぐる→鍋の中の温度を均一化させることで生茹でを防ぎます
...

For those who like eating undercooked noodles... can be dangerous
https://twitter.com/uzutokaminari/status/1514495120707850242
生茹での麺を美味しいと思ってる人へ
小麦粉はちゃんと加熱しないと毒性が残るから腹壊すよ。

ngram count of 807 is quite low in any case. Considered [rare], used [food] instead.
	  
"half-baked" can mean undercooked English.  I don't believe "half-boiled" carries the same nuance. If anything, seems like a legitimate form of egg preparation.  sankoku and daijs both use 不十分, "not enough", "insufficient". 

"undercooked" in most cases seems like a useful gloss, except that "boiling" is the method of cooking. "underboiled", like "half-boiled", doesn't really mean anything to me in English though.

I can't figure out if 生茹で麺 is a particular product or not(where "half-boiled noodles" might apply).  Even so, I find English examples like the one below, which still use "undercooked":

https://www.allrecipes.com/article/pasta-cooking-basics/#:~:text=If you want to pre,or two, until heated through.
Can I cook pasta ahead of time then reheat it?
If you want to pre-cook the pasta, and then reheat later, you can do this by cooking it as usual, but leave it slightly undercooked.

@@ -12 +12,2 @@
-<gloss>half-boiled</gloss>
+<field>&food;</field>
+<gloss>insufficiently boiled (undercooked)</gloss>