Press the extra firm tofu for 15 minutes to remove excess moisture, then cut into 1-inch cubes.
In a small bowl, whisk together the tamari, rice vinegar, minced fresh ginger, minced garlic, and red pepper flakes to create the stir-fry sauce.
Heat the avocado oil in a large non-stick skillet or wok over medium-high heat and sear the tofu cubes until all sides are golden and crispy.
Add the broccoli florets, sliced red bell peppers, and shelled edamame to the skillet, sautéing for 3 to 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 all ingredients evenly.
Remove the skillet from the heat, drizzle with toasted sesame oil, and garnish with sesame seeds before serving.