Press the extra-firm tofu for at least 15 minutes to remove excess moisture, then cut into 1-inch uniform cubes.
In a small bowl, whisk together the tamari, rice vinegar, red pepper flakes, and water to create the stir-fry sauce.
Heat the avocado oil in a large skillet or wok over medium-high heat until shimmering.
Add the tofu cubes to the pan in a single layer and sear until golden brown and crispy on all sides, approximately 8-10 minutes.
Toss the trimmed green beans and shelled edamame into the pan, sautéing for 3-4 minutes until the beans are bright green and tender-crisp.
Add the minced garlic and grated fresh ginger to the center of the pan, stirring constantly for 1 minute until highly fragrant.
Pour the prepared sauce over the tofu and vegetables, tossing quickly to coat everything evenly as the sauce thickens.
Remove from heat, drizzle with toasted sesame oil, and garnish with sesame seeds before serving immediately.