Preheat your oven to 400°F and line a large baking sheet with parchment paper for easy cleanup.
Press the firm tofu between paper towels for 15 minutes to remove moisture, then slice into 1-inch cubes.
In a medium bowl, toss the tofu cubes with sesame oil, garlic powder, sea salt, and black pepper until evenly coated.
Arrange the tofu in a single layer on the baking sheet and bake for 25-30 minutes, flipping halfway through until golden and crispy.
While the tofu bakes, whisk together the peanut butter, tamari, sriracha, grated ginger, and rice vinegar in a small bowl until smooth.
Steam the broccoli florets and shelled edamame in a steamer basket for 5-7 minutes until they are tender and bright green.
Place the crispy tofu in a bowl, drizzle with the peanut sauce, and toss gently to coat before serving with the steamed vegetables.