Press the firm tofu for 15 minutes between paper towels to remove excess moisture, then cut into 1-inch cubes.
In a small glass bowl, whisk together the tamari, rice vinegar, grated fresh ginger, and red pepper flakes to create the stir-fry sauce.
Heat the avocado oil in a large non-stick skillet or wok over medium-high heat until shimmering.
Add the tofu cubes to the skillet in a single layer and sear until golden brown and crispy on all sides, approximately 8 to 10 minutes.
Remove the crispy tofu from the pan and set aside on a plate.
In the same skillet, add the sliced cremini mushrooms and broccoli florets, sautéing for 5 minutes until the vegetables are tender and browned.
Stir in the minced garlic and shelled edamame, cooking for an additional 2 minutes until the garlic is fragrant.
Return the tofu to the pan and pour the tamari sauce mixture over the ingredients, tossing constantly for 1 minute to coat everything evenly.
Remove from heat, drizzle with toasted sesame oil, and serve immediately.