Preheat oven to 400°F and line a baking sheet with parchment paper.
Press the tofu for 15 minutes using a heavy object to remove excess moisture, then cut into 1-inch cubes.
Toss the tofu cubes with sesame oil, sea salt, and black pepper, then spread them in a single layer on the baking sheet.
Bake for 25-30 minutes, flipping halfway through, until the exterior is golden and crisp.
While the tofu bakes, whisk together the peanut butter, tamari, rice vinegar, sriracha, grated ginger, and minced garlic in a small bowl.
Steam the broccoli florets and edamame in a steamer basket for 5-7 minutes until tender and bright green.
Toss the hot, crispy tofu in the peanut sauce until fully coated and serve over the steamed vegetables.