Place ingredients for ginger sauce in bowl and whisk to combine. In a separate bowl, toss tofu cubes with marinade and let stand for 15 minutes. Drain tofu cubes, reserving marinade. In a large wok, sauté tofu in sesame oil until brown on all sides. Remove tofu from wok. Add peppers, carrots, zucchini, beans, and bok choy to wok with enough marinade to coat and begin sautéing vegetables over medium heat until just cooked. Return tofu to pot and stir to combine. Remove from heat and stir in sesame seeds, green onions, and cilantro.