Press the 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, and minced fresh ginger 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 golden brown and crisp on all sides.
Add the broccoli florets, sliced red bell pepper, and shelled edamame to the pan, sautéing for 5 minutes until the vegetables are tender-crisp.
Stir in the minced garlic and cook for 30-60 seconds until highly fragrant.
Pour the prepared sauce over the tofu and vegetables, tossing constantly for 1 minute to glaze everything evenly.
Season with sea salt and black pepper, then serve immediately topped with toasted sesame seeds.