Combine soy sauce, brown sugar, water, and white vinegar in a jar; shake for 30 seconds until smooth.
Soak rice noodles in warm water for 5-7 minutes until tender, then drain.
Press tofu to remove excess water, cut into 1-inch cubes. Fry in 1 tbsp olive oil over medium-high heat for 5 minutes until golden brown. Add a splash of sauce for crust, then set aside.
In the same pan, stir-fry chopped vegetables and minced garlic with 1 tsp olive oil over medium-high heat for 3-5 minutes until tender-crisp.
Return tofu and drained noodles to the skillet. Pour in the remaining sauce.
Toss gently for 1-2 minutes until well combined and heated through. Serve immediately.
Garnish with peanuts, fresh cilantro, and lime wedges.