Preheat your oven to 400°F and line a large baking sheet with parchment paper.
Press the extra firm tofu for at least 15 minutes to remove excess moisture, then cut into 1-inch cubes.
Trim the woody ends off the asparagus and cut the spears into 2-inch pieces.
In a large mixing bowl, whisk together the olive oil, tamari, garlic powder, and onion powder.
Add the tofu cubes, cauliflower florets, and asparagus pieces to the bowl, tossing gently until everything is evenly coated.
Spread the mixture in a single layer on the prepared baking sheet, ensuring space between the tofu pieces for even browning.
Roast for 20 minutes, then remove the pan to flip the tofu and stir the vegetables.
Add the shelled edamame to the pan and roast for an additional 5-7 minutes until the tofu is golden and the vegetables are tender.
Season with sea salt and black pepper before serving immediately.