Press the tofu for at least 15 minutes to remove excess water, then cut it into bite-sized cubes.
In a bowl, whisk together soy sauce, rice vinegar, minced garlic, minced ginger, and sesame oil to create the glaze.
Toss tofu cubes gently in a small amount of soy sauce or cornstarch (optional) to help achieve a crispier texture.
Heat a non-stick skillet over medium-high heat. Add the tofu cubes and cook until all sides are golden and crispy, about 6-8 minutes. Remove from the skillet and set aside.
In the same skillet, add a splash of sesame oil if needed and sauté the broccoli, red bell pepper, and carrot for 3-4 minutes until slightly tender but still crisp.
Return the tofu to the skillet along with the shelled edamame. Pour the prepared glaze over the mixture and toss everything well to combine.
Cook for an additional 2-3 minutes until the sauce slightly thickens and coats the vegetables and tofu evenly.
Sprinkle with sesame seeds and serve immediately.