Preheat your oven to 400°F (200°C) and line a large baking sheet with parchment paper.
Press the firm tofu between heavy plates and paper towels for 20 minutes to remove excess moisture, then cut into 1-inch cubes.
In a medium bowl, toss the tofu cubes with nutritional yeast, garlic powder, onion powder, and sea salt until every piece is evenly coated.
Arrange the tofu in a single layer on the baking sheet and bake for 25-30 minutes, flipping halfway through, until the edges are golden and crispy.
While the tofu bakes, heat the toasted sesame oil in a non-stick skillet over medium heat and sauté the minced garlic for 1 minute until fragrant.
Add the cooked brown rice and shelled edamame to the skillet, stirring for 3-4 minutes until the edamame is bright green and heated through.
In a small bowl, whisk together the tamari, rice vinegar, and grated fresh ginger to create a savory glaze.
Toss the crispy baked tofu in the glaze, then serve immediately over the garlic rice and edamame, garnished with sliced green onions.