Press the extra-firm tofu for 15 minutes to remove excess moisture, then cut into 2-centimeter cubes.
In a small bowl, whisk together the tamari, rice vinegar, pineapple juice, cornstarch, garlic powder, and ground ginger to create the sweet and sour sauce.
Heat the sesame oil in a large non-stick skillet or wok over medium-high heat.
Add the tofu cubes to the skillet and sear for 8 to 10 minutes, turning occasionally until the edges are golden and crispy.
Add the sliced carrots to the pan and sauté for 3 minutes before adding the chopped zucchini and the frozen shelled edamame.
Continue sautéing for 4 to 5 minutes until the vegetables are tender-crisp and the edamame is heated through.
Pour the prepared sauce over the mixture, stirring constantly for 1 to 2 minutes until the glaze thickens and coats everything evenly.
Season the stir-fry with sea salt and black pepper, then serve immediately over the warm cooked brown rice.