Steam broccoli florets, broccoli stems and carrots for 3 to 5 minutes or until tender-crisp. Rinse under cold water and drain well. Transfer to large bowl along with edamame, tofu, green onions and sesame seeds. Toss with Peanut Dressing until well coated. Garnish with peanuts and cilantro.
Peanut Dressing: Whisk together peanut butter, hot water, soy sauce, lemon juice, garlic, ginger, brown sugar, salt and hot pepper flakes; whisk in olive oil.