Press the tofu for at least 15 minutes to remove excess moisture and then cut it into bite-sized cubes.
In a medium bowl, whisk together soy sauce, honey, rice vinegar, minced garlic, grated ginger, and sesame oil to create the glaze.
Lightly toss the tofu cubes in half of the glaze to coat, then sprinkle with sesame seeds.
Heat a non-stick skillet over medium-high heat and add the tofu. Cook until the tofu is golden and crispy on all sides, about 5-7 minutes.
Remove the tofu from the skillet and set aside.
In the same skillet, add red bell pepper slices, broccoli florets, and snap peas. Stir-fry for 3-4 minutes until they are tender yet crisp.
Return the crispy tofu to the skillet and pour in the remaining glaze. Toss everything together for another 2 minutes so the flavors meld.
If using, add the shelled edamame at this point and stir until heated through.
Serve the stir-fry hot, garnished with extra sesame seeds if desired.