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, toasted sesame oil, rice vinegar, grated fresh ginger, and minced garlic to create the stir-fry sauce.
Heat the avocado oil in a large non-stick skillet or wok over medium-high heat.
Add the tofu cubes to the skillet and sear for 5-7 minutes, turning occasionally, until all sides are golden brown and slightly crispy.
Add the broccoli florets and shelled edamame to the skillet along with 2 tablespoons of water; cover with a lid for 2 minutes to steam-fry the vegetables until tender-crisp.
Remove the lid and pour the prepared sauce over the tofu and vegetables, tossing constantly for 1 minute until the sauce thickens and coats everything evenly.
Remove from heat and stir in the red pepper flakes.
Serve the stir-fry over the warm cooked quinoa and garnish with toasted sesame seeds.