Press the tofu between paper towels for 15 minutes to remove excess moisture, then cut into 1-inch cubes.
In a small bowl, whisk together the tamari, rice vinegar, minced ginger, and minced garlic to create the glaze.
Heat the toasted sesame oil in a large non-stick skillet or wok over medium-high heat.
Add the tofu cubes to the skillet and sear for 8-10 minutes, turning occasionally, until all sides are golden and crispy.
Add the broccoli florets, sliced red bell pepper, and shelled edamame to the pan with the tofu.
Stir-fry the vegetables for 3-5 minutes until they are tender-crisp and vibrant in color.
Pour the prepared sesame-ginger glaze over the tofu and vegetables, tossing well to coat everything evenly.
Cook for an additional 1-2 minutes until the sauce thickens slightly and clings to the tofu.
Season with red pepper flakes, sea salt, and black pepper.
Garnish with sesame seeds and serve immediately while hot.