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Make the sauce: In a small bowl whisk all the sauce ingredients together.
Cook the tofu: To a large skillet or wok add the olive oil and sesame oil and heat over medium-high heat. Add the tofu and cook until browned on all sides, should take about 3 to 5 minutes. You might need to do this in batches.
Cook veggies: Add the onion to the skillet and cook until the onion begins to soften a bit, another 2 to 3 minutes. Next, bell pepper and mushroom and continue sautéing the pepper starts to soften and mushrooms begin to brown a bit, stirring occasionally.
Finally, add the broccoli, baby corn and snap peas. Toss everything together and cook for another 5 minutes.
Finish and Serve: Add the cooked udon noodles to the skillet and pour in the sauce. Toss and cook for 2 to 3 minutes then remove from heat. Sprinkle with green onions and serve.