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Heat ½ tbsp oil in a large wok on medium-high heat and crumble up extra-firm tofu with your fingers. Cook the tofu for about 2-3 minutes, until slightly golden.
While the tofu cooks, prepare your udon noodles by soaking them in hot, boiled water for about 2-3 minutes until you can carefully loosen the noodles with chopsticks. Drain and rinse with cold water and set aside.
Once tofu is slightly golden, turn heat down to low and add ½ tbsp soy sauce and ½ tbsp dark soy sauce. Mix until evenly coated and then remove from wok into bowl to set aside.
In the same wok, add ½ tbsp of oil and add ½ sliced onion and 3 cloves of minced garlic. Cook for 1-2 minutes, stirring frequently, until garlic begins to brown slightly and onions before to soften.
Add your sliced carrot, cabbage and mushrooms for another 2 minutes of cooking. Add bean sprouts and cook for another minute.
In a small bowl, mix together the sauce ingredients: 1 tbsp brown sugar, 2 tbsp mirin, 1 tbsp soy sauce and 2 tbsp dark soy sauce.
To finish making yaki udon, add to the wok: udon noodles, crumbled tofu and the sauce you just made! Toss everything until evenly coated. Garnish with green onion and sesame seeds (optional) and voila! Vegan Yaki Udon!