Press the tofu between paper towels for 15 minutes to remove excess moisture, then cut into 1-inch cubes.
Place the tofu cubes in a bowl and toss with nutritional yeast, sea salt, and black pepper until evenly coated.
Peel the sweet potato and cut into 1/2-inch cubes; slice the carrots into thin rounds.
Bring 2 inches of water to a boil in a large pot and set a steamer basket inside.
Add the sweet potato cubes to the basket, cover, and steam for 8 minutes.
Add the tofu cubes, broccoli florets, and carrots to the steamer basket and continue steaming for 7 minutes until the vegetables are tender-crisp.
While steaming, whisk together the tamari, toasted sesame oil, grated fresh ginger, and minced garlic in a small bowl.
Transfer the steamed tofu and vegetable medley to a large serving bowl.
Drizzle the ginger-sesame sauce over the bowl and toss gently to coat.
Garnish with sesame seeds and serve immediately.