Pat tofu dry and coat with cornstarch.
Heat oil in wok over medium-high heat.
Fry tofu until golden on all sides, about 6–7 minutes.
Remove tofu and set aside.
Add garlic and ginger to wok; sauté for 30 seconds.
Toss in broccoli, peppers, peas, and carrots. Stir-fry 3–4 minutes.
Mix soy sauce, rice vinegar, sesame oil, maple syrup, and water in a bowl.
Pour sauce into wok; stir until vegetables are coated.
Add tofu back, toss gently, and cook 2 minutes.
Garnish with sesame seeds and serve hot over rice or noodles.