Preheat your oven to 400°F and line a large rimmed baking sheet with parchment paper for easy cleanup.
Toss the broccoli florets and sliced carrots on the baking sheet with 1 tsp of avocado oil, sea salt, and black pepper until evenly coated.
Spread the vegetables in a single layer and roast for 18-20 minutes until they are tender and show light golden charred edges.
While the vegetables roast, press the firm tofu between paper towels for 10 minutes to remove excess moisture, then cut into 1-inch cubes.
In a small glass jar or bowl, whisk together the tamari, grated fresh ginger, minced garlic, and rice vinegar to create a clean teriyaki glaze.
Heat the remaining 1 tsp of avocado oil in a large non-stick skillet over medium-high heat.
Add the tofu cubes to the skillet and sear for 8-10 minutes, turning occasionally until all sides are golden brown and crispy.
Pour the teriyaki glaze and the shelled edamame into the skillet with the tofu, stirring constantly for 2 minutes until the sauce thickens into a glossy coating.
Divide the roasted vegetables and glazed tofu into a bowl and finish by sprinkling with sesame seeds before serving.