Bring water to a boil. Add the quinoa, cover, and reduce to low. Cook for 15-18 minutes, or according to package instructions, until the quinoa is tender and the water is absorbed. Remove from heat and set aside.

Meanwhile, cook the edamame according to package instructions. Drain and set aside.

In a bowl, toss the cubed tofu with the cornstarch and about 1/3 of the soy sauce until evenly coated.

Heat the oil (not the sesame oil) in a skillet over medium heat. Add the tofu and cook for 6-8 minutes, turning occasionally, until browned and crispy. Transfer to a plate and set aside.

In a small bowl, whisk together the peanut butter, sesame oil, remaining soy sauce, ground ginger, and garlic powder. Add a small amount of warm water as needed to thin the sauce to a pourable consistency.

In a large bowl, combine the cooked quinoa, edamame, carrots, cucumber, and cilantro. Top with the tofu and drizzle with the peanut sauce. Serve.