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Heat up a large pot of water and cook the udon noodles according to the package's directions. Once cooked, strain and set aside.
Heat a large skillet or wok over medium heat. Add cooking oil and continue to heat for another minute. Add the tofu (it should sizzle when it hits the pan) and cook on both sides until brown, 4-5 minutes per side. Place the tofu on a paper towel to soak up excess oil.
In the same skillet, sauté the carrots, bell peppers, and broccoli until cooked all the way through, about 5 minutes. Add the noodles and tofu and stir fry for about 7 more minutes, stirring occasionally.
Meanwhile, whisk together all the ingredients for the sauce. Add sauce to the stir fry and stir together. Once the noodles are fully coated, remove from heat and serve.
Top with green onions and sesame seeds and serve.