Press the extra firm tofu for 15 minutes to remove excess moisture, then cut into 1-inch cubes.
In a small bowl, whisk together the low-sodium tamari, rice vinegar, minced fresh ginger, minced garlic, red pepper flakes, and water.
Heat a large non-stick skillet over medium-high heat and add the toasted sesame oil.
Add the tofu cubes to the skillet and sear for 8-10 minutes, turning occasionally until the edges are golden and crispy.
Add the broccoli florets and shelled edamame to the skillet with the tofu.
Pour the prepared sauce over the mixture and toss well to coat all ingredients.
Cover the pan for 2-3 minutes to steam the broccoli until it is tender-crisp.
Remove the lid and stir-fry for another minute until the sauce has thickened and glazed the tofu.
Garnish the dish with toasted sesame seeds before serving hot.