In a bowl combine 1 tablespoon of the peanuts, the sesame seeds, ginger, and red pepper. Add tofu; toss gently to coat.
Heat oil in a large skillet over medium-high heat. (If necessary, add more oil during cooking.) Add tofu mixture to skillet. Cook, stirring gently, for 3 to 4 minutes until sesame seeds are toasted and tofu begins to brown.
Remove tofu mixture to a bowl. Add vegetables to skillet; cook and stir for 2 to 3 minutes or until heated through. Add stir-fry sauce; cook and stir gently until mixture is bubbly. Stir in tofu; heat through. Serve over rice. Sprinkle each serving with some of the remaining 3 tablespoons peanuts and the green onions. Serve with orange wedges.