How to Make It
Put drained tofu in a shallow baking dish. In a large bowl, whisk together oil, vinegar, soy sauce, mirin, ginger, 1/4 tsp. salt, the sugar, and pepper; pour over tofu. Set bowl aside but don't wash. Marinate tofu, turning over occasionally, 10 minutes.
Lift tofu to a large nonstick frying pan (pour marinade back into bowl) and cook over medium-high heat until lightly browned on all sides, about 8 minutes total.
Meanwhile, bring a large pot of salted water to a boil. Add beans and cook until crisp-tender, 5 to 6 minutes. Drain well, then pour into marinade and stir well to coat. Add tofu and gently combine.
Transfer beans and tofu to a platter or four large plates. Top with cilantro, almonds, and sesame seeds (if using).