Start by boiling water in a saucepan to cook the frozen edamame. While you wait for the water to boil, you can start pressing the tofu by surrounding it with a towel and applying pressure on the top with a heavy pan. Leave the tofu like this for a few minutes.
Once the water boils, add the edamame into the pot and follow the instructions on the packaging to cook. It usually takes between 4-6 minutes, but it might be different depending on the type or brand of edamame you have.
While the edamame is cooking, in a skillet pan add the soy sauce and heat it over medium-high heat. Once it has heated up, add the tofu to the pan. It is up to you whether to cut the tofu into cubes before but keep in mind that the smaller the pieces of tofu, the crispier and more cooked the pieces will be. Allow the tofu to cook on one side and once it is golden brown (after about 3 minutes), flip the tofu onto the other side, and cook for another 3 minutes. Remove from the heat and set aside once it is done cooking.
By this time, the edamame should be done cooking so you can drain the water from the saucepan and set it aside as well. Now is a great time to start heating up your rice if you're using leftover rice you have in your fridge.
To assemble your tofu rice bowls, start by placing the rice in the bottom of the 2 bowls. On top of the rice, add the tofu on one side and the edamame on the other, and if you're adding the avocado, place it on top of the rice as well. Then, sprinkle on the sesame seeds and over the bowls if using and as much pepper as you want! Generously sprinkle on any veggies you've got on hand and enjoy!