Make the stir-fry sauce by mixing dark soy sauce, oyster sauce or vegetarian oyster sauce, rice vinegar, mirin, brown sugar, and sriracha sauce.
Boil udon noodles, drain, cool under cold water, and set aside.
Warm up vegetable oil in a pan, add diced tofu, and season with salt. Cook on medium heat until golden brown.
Add onion and fry for 3 more minutes.
Add grated garlic and grated ginger and fry for one more minute.
Add bell pepper, mushrooms, carrots, and green beans. Cook on medium-high heat for a couple of minutes or until tender-crisp.
Add the noodles and stir-fry sauce. Toss for one more minute on high heat until all ingredients are fully coated in the sauce.
Garnish with sesame oil, sesame seeds, fried onions, and cilantro (optional).
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