Preheat your oven to 400°F and line a large baking sheet with parchment paper.
Press the extra firm tofu for at least 15 minutes to remove excess moisture, then cut it into 1-inch cubes.
In a small mixing bowl, whisk together the tamari, rice vinegar, toasted sesame oil, grated fresh ginger, minced garlic, and black pepper.
Place the tofu cubes and shelled edamame in a bowl and toss with half of the prepared glaze until thoroughly coated.
Arrange the tofu and edamame in a single layer on the baking sheet, ensuring they are not overcrowded.
Roast in the oven for 25 to 30 minutes, flipping the tofu halfway through, until the edges are golden and crispy.
Remove from the oven, drizzle with the remaining glaze, and garnish with sesame seeds before serving hot.