Press the tofu for 15 minutes to remove excess moisture, then cut into 1-inch cubes.
In a small bowl, whisk together the tamari, rice vinegar, minced ginger, and minced garlic to create the stir-fry sauce.
Heat the toasted sesame oil in a large non-stick skillet over medium-high heat.
Add the tofu cubes to the skillet and sear for 8-10 minutes, turning occasionally until all sides are golden and crisp.
Add the broccoli florets and shelled edamame to the pan with two tablespoons of water, then cover with a lid to steam for 3 minutes.
Remove the lid, pour the sauce over the tofu and vegetables, and toss for 1-2 minutes until the glaze thickens and coats everything evenly.
Season with sea salt and black pepper, then serve immediately garnished with sesame seeds.