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.
Notes
Nutrition information is an estimate, calculated automatically. Values vary with brands, substitutions and portion sizes.