Heat 1 tablespoon sesame oil in a large wok or skillet over medium-high heat.
Add tofu and cook until golden on all sides, about 8 minutes. Remove and set aside.
Add remaining oil to pan.
Add bell peppers, snap peas, broccoli, and carrots. Stir-fry for 4-5 minutes.
Add garlic and ginger, stir-fry for 30 seconds.
Combine soy sauce, rice vinegar, honey, and red pepper flakes.
Return tofu to pan, add sauce, and toss to combine.
Serve over brown rice, garnished with green onions and sesame seeds.