Press the firm tofu for 15 minutes to remove excess moisture, then slice into 1-inch cubes.
In a small bowl, whisk together the tamari, minced ginger, minced garlic, rice vinegar, maple syrup, and sriracha.
Heat the toasted sesame oil in a large non-stick skillet 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 bell peppers, and shelled edamame to the pan, sautéing for 4-5 minutes until tender-crisp.
Pour the prepared sauce over the tofu and vegetables, tossing constantly for 2 minutes until the glaze is thick and glossy.
Remove from heat and garnish with sesame seeds and thinly sliced green onions.