Press the tofu for at least 15 minutes to remove excess moisture, then cut into bite-sized cubes.
In a bowl, gently toss the tofu cubes with a drizzle of soy sauce to lightly marinate.
Heat sesame oil in a large non-stick skillet or wok over medium-high heat.
Add the tofu cubes and stir-fry until golden and crispy on all sides, about 6-8 minutes. Remove tofu from the skillet and set aside.
In the same skillet, add minced garlic, grated ginger, and sliced onion. Sauté until fragrant and the onion softens subtly.
Add chopped broccoli, red bell pepper strips, and sliced carrots. Stir-fry the vegetables until they are tender-crisp, about 4-5 minutes.
Return the crispy tofu to the skillet along with the shelled edamame. Pour in the remaining soy sauce and gently stir to combine all ingredients evenly.
Cook for an additional 2 minutes, ensuring everything is heated through and well-coated with the sauce.
Remove from heat and garnish with sesame seeds if using.
Serve immediately as a hearty, protein-packed stir-fry perfect for breakfast, lunch, or dinner.