Preheat the oven to 400°F (200°C).
Press the tofu for at least 15 minutes to remove excess moisture, then cut into cubes.
In a bowl, toss tofu cubes with olive oil, soy sauce, and garlic powder until evenly coated.
Spread the tofu on a baking sheet lined with parchment paper, and bake for 25-30 minutes, flipping halfway, until edges are crispy.
Meanwhile, chop the mixed vegetables into bite-sized pieces. Toss them lightly with a drizzle of olive oil, salt, and pepper if desired.
Place the vegetables on a separate baking sheet and roast for about 20 minutes until tender and slightly charred.
To prepare the peanut sauce, whisk together peanut butter, water, and lemon juice until smooth. Adjust consistency by adding more water if needed.
In the final minutes, warm the shelled edamame (if desired, in the microwave for 1-2 minutes).
Plate the roasted vegetables and crispy tofu, top with edamame, and drizzle generously with the creamy peanut sauce. Serve warm and enjoy.