Press the tofu for 15 minutes to remove excess moisture, then cut into 1-inch cubes.
In a small bowl, whisk together tamari, rice vinegar, minced ginger, minced garlic, red pepper flakes, and water to create the stir-fry sauce.
Heat sesame oil in a large skillet or wok over medium-high heat until shimmering.
Add tofu cubes to the skillet and sear until golden brown and crispy on all sides, approximately 8 to 10 minutes.
Add broccoli florets and shelled edamame to the skillet with a splash of water, covering with a lid for 2 minutes to steam-tenderize the vegetables.
Remove the lid and pour the prepared sauce over the tofu and vegetables, tossing constantly until the sauce thickens and coats every piece.
Garnish the stir-fry with sesame seeds and serve immediately while hot.