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 skillet or wok over medium-high heat until shimmering.
Add the tofu cubes to the pan and sear until golden brown and crispy on all sides, approximately 8-10 minutes.
Remove the tofu from the pan and set aside on a plate.
Add the broccoli, bell peppers, snap peas, and edamame to the same skillet, sautéing for 5 minutes until tender-crisp.
Return the tofu to the pan and pour the sauce over the mixture, tossing well to coat every piece.
Season with sea salt, black pepper, and red pepper flakes, then cook for 2 more minutes until the sauce thickens slightly.
Garnish with sesame seeds before serving hot.