Place noodles in a large bowl. Add boiling water to cover; let stand 10 minutes or until tender. Drain.
Combine vinegar and next 5 ingredients (vinegar through garlic) in a small bowl, stirring with a whisk.
Heat a large nonstick skillet coated with cooking spray over medium-high heat. Sprinkle tofu with salt, red pepper, and black pepper. Add tofu to pan; sauté 8 minutes or until lightly browned. Remove from pan. Add onion, broccoli, and carrot to pan; sauté 4 minutes or until tender. Remove from pan. Add egg to pan; stir-fry 20 seconds or until soft-scrambled, stirring constantly.
Return tofu and onion mixture to pan. Stir in noodles and vinegar mixture; cook 1 minute or until thoroughly heated, stirring constantly. Remove from heat. Stir in juice; sprinkle with peanuts.