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, grated fresh ginger, and minced garlic 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 5-7 minutes, turning occasionally, until the edges are golden and crispy.
Toss in the broccoli florets, sliced red bell pepper, diced carrots, and shelled edamame, then sauté for 4-5 minutes until the vegetables are tender-crisp.
Pour the prepared sauce over the tofu and vegetables, stirring constantly for 1-2 minutes until the sauce thickens and coats everything evenly.
Remove from heat and garnish with sesame seeds and red pepper flakes before serving.