Press the tofu for at least 15 minutes to remove excess moisture, then cut into 1-inch cubes.
In a small bowl, whisk together the tamari, rice vinegar, grated fresh ginger, and minced garlic 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 until golden brown and crispy on all sides, which should take about 8 to 10 minutes.
Add the broccoli florets and shelled edamame to the skillet, stirring frequently for 4 to 5 minutes until the vegetables are tender-crisp.
Pour the prepared sauce over the tofu and vegetables, tossing everything to coat evenly as the sauce thickens slightly.
Garnish the dish with sesame seeds and red pepper flakes before serving immediately.