Drain the firm tofu and press it 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 stir-fry sauce.
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 5-7 minutes, turning occasionally until the edges are golden and crispy.
Toss in the broccoli florets and shelled edamame, sautéing for another 4-5 minutes until the broccoli is tender-crisp.
Pour the prepared sauce over the tofu and vegetables, stirring constantly for 1 minute until everything is well-coated and fragrant.
Season the mixture with sea salt, black pepper, and red pepper flakes.
Garnish with sesame seeds before serving immediately.