Press the tofu for 15 minutes using a tofu press or heavy skillet to remove excess moisture, then cut into 1-inch cubes.
In a small glass bowl, whisk together the tamari, rice vinegar, minced fresh ginger, minced garlic, 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 it begins to shimmer.
Add the tofu cubes to the skillet in a single layer and sear for 8-10 minutes, turning occasionally until all sides are golden brown and crisp.
Add the broccoli florets, sliced red bell pepper, and shelled edamame to the pan, sautéing for 4-5 minutes until the vegetables are tender-crisp and vibrant.
Pour the prepared garlic-ginger sauce over the tofu and vegetables, tossing constantly for 1-2 minutes until the sauce thickens and coats every piece.
Remove from heat, drizzle with toasted sesame oil, and garnish with sesame seeds before serving.