Press the extra firm tofu for 15 minutes to remove excess moisture, then cut into 1-inch cubes.
Toss the tofu cubes in a bowl with arrowroot powder, sea salt, and black pepper until each piece is evenly coated.
Heat a large non-stick skillet over medium-high heat with half of the toasted sesame oil.
Add the tofu to the skillet and sear until golden and crispy on all sides, then remove and set aside.
Add the remaining sesame oil to the pan along with the broccoli, bell pepper, and edamame, sautéing until tender-crisp.
In a small bowl, whisk together the tamari, rice vinegar, minced fresh ginger, and minced garlic.
Return the crispy tofu to the skillet, pour the sauce over the mixture, and toss for 1-2 minutes until the glaze thickens.
Garnish the stir-fry with sesame seeds and serve immediately while hot.