Wrap the extra-firm tofu in a clean kitchen towel and place a heavy skillet on top for 15 minutes to press out excess moisture.
Cut the pressed tofu into 1-inch cubes and set aside.
In a small bowl, whisk together the tamari, rice vinegar, minced ginger, minced garlic, and red pepper flakes 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 8-10 minutes, turning occasionally, until all sides are golden and slightly crispy.
Toss in the broccoli florets, sliced red bell pepper, and shelled edamame, sautéing for 5 minutes until the vegetables are tender-crisp.
Pour the prepared sauce over the tofu and vegetables, tossing constantly for 1-2 minutes until the sauce thickens and coats everything evenly.
Remove from heat, sprinkle with sesame seeds, and serve immediately.