Press the firm tofu between paper towels for 15 minutes to remove excess moisture, then cut into 1-inch cubes.
In a small bowl, whisk together the tamari, maple syrup, garlic powder, and ground ginger to create the teriyaki glaze.
Heat the sesame oil in a large non-stick skillet over medium-high heat and add the tofu cubes.
Sear the tofu for 8-10 minutes, turning occasionally until all sides are golden brown and crispy.
Add the broccoli florets and shelled edamame to the skillet with two tablespoons of water, then cover with a lid to steam for 3 minutes.
Remove the lid, pour the teriyaki glaze over the tofu and vegetables, and toss for 1 minute until the sauce thickens.
Transfer the cooked quinoa to a bowl and top with the glazed tofu and vegetable mixture.
Garnish with sesame seeds and sliced green onions before serving.