Press the extra-firm 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, grated ginger, minced garlic, red pepper flakes, and water 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 8-10 minutes, turning occasionally, until all sides are golden brown and crispy.
Add the broccoli florets, sliced carrots, and shelled edamame to the skillet with the tofu.
Stir-fry the vegetables for 4-5 minutes until the broccoli is bright green and tender-crisp.
Pour the prepared sauce over the tofu and vegetables, tossing constantly for 1-2 minutes until the sauce thickens and coats everything evenly.
Remove from heat and garnish with sesame seeds before serving.