Peanut Sauce: Mix all ingredients together until smooth and creamy.
Tofu: Combine minced ginger, garlic, sesame oil, tamari, mirin, and brown rice vinegar. Cut tofu into bite sizes pieces and put into marinade. Marinade for at least an hour.
In a medium skillet, heat the sesame oil on medium heat. Add the tofu with marinade to the hot pan. Cook until browned, then flip and brown the other side. Set aside.
Noodle Bowls: Steam carrots and red pepper until tender.
Heat Pad Thai brown rice noodles in water according to directions.
Place Pad Thai noodles and peanut sauce in a bowl. Add a small amount of the hot pasta water, if desired. Add tofu and veggies. Reheat if necessary.
Top with chopped basil, cilantro leaves, and crushed peanuts. Serve hot or cold.