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 15 minutes to remove moisture, then cut into 1-inch cubes.
In a medium mixing bowl, toss the tofu cubes with cornstarch, sea salt, black pepper, and toasted sesame oil until each piece is evenly coated.
Arrange the tofu in a single layer on the baking sheet and bake for 25-30 minutes, flipping once halfway through, until the edges are golden and crispy.
While the tofu is roasting, whisk together the non-fat Greek yogurt, creamy peanut butter, tamari, sriracha, fresh ginger, and minced garlic in a small bowl until the sauce is smooth.
Steam the broccoli florets and shelled edamame in a steamer basket over boiling water for 5-7 minutes until they are tender yet vibrant.
Transfer the crispy tofu and steamed vegetables to a large bowl, drizzle with the zesty peanut sauce, and toss gently to combine before serving.