Press the tofu for 15 minutes to remove excess moisture using a tofu press or heavy skillet, then cut into 1-inch cubes.
Whisk together the tamari, rice vinegar, sriracha, minced ginger, and minced garlic in a small bowl to create the stir-fry sauce.
Heat the toasted sesame oil in a large non-stick skillet or wok over medium-high heat until shimmering.
Add the tofu cubes to the skillet in a single layer and sear until golden brown and crispy on all sides, about 8-10 minutes.
Toss in the broccoli florets, sliced bell pepper, and shelled edamame, stir-frying for 4-5 minutes until the vegetables are tender-crisp.
Pour the prepared sauce over the tofu and vegetables, tossing constantly for 1 minute until the glaze thickens and coats everything evenly.
Remove from heat and garnish with sesame seeds and sliced green onions before serving immediately.