Start with draining the tofu: Place a folded paper towel on a plate under the tofu, then place another folded paper towel on top of the tofu. Place another plate on top of the tofu and weigh it down with a bowl filled with something heavy to express the liquid from the tofu. Let sit for 10 minutes, replacing the paper towels midway through draining. Slice the tofu into bite size pieces and set aside.
Heat a wok or non-stick skillet over high heat. Add 2 tablespoons of canola oil to the wok. When the oil ripples, add the tofu. In batches, cook the tofu undisturbed for 3-4 minutes until it’s crisp and golden underneath then carefully turn with tongs or chopsticks to brown the other side. Transfer the cooked tofu to a plate lined with paper towels.
Heat the remaining oil in the wok and add the onion. Stir fry for 2-3 minutes then add the broccoli and carefully pour in ¼ cup water, watching so it doesn’t splatter. Stir fry until the broccoli is crisp tender, 2-3 minutes. Pour in the teriyaki sauce, add the Mikimame beans and tofu to the wok, and stir fry, cooking for 3-4 more minutes. Top with scallions and sesame seeds and serve over rice.