Cook the Jasmine rice according to package directions—fluff with a fork and set aside.

For the stir fry sauce: In a small bowl, whisk together the soy sauce, hoisin sauce, garlic, sesame oil, and black pepper; set aside.

In a wok or large skillet over medium-high heat, add 1 tablespoon of vegetable oil, spreading it around to coat the pan. When the oil is hot, add the cubed tofu in an even layer. Cook for 8 minutes, turning frequently, until all sides are lightly browned. Transfer the cooked tofu to a plate.

Add 1 tablespoon of vegetable oil to the now-empty pan. Add the onion and cook for 2 minutes, until softened. Stir in the ginger and cook for an additional 30 seconds. Add the green beans and onion. Cook, stirring frequently, for 3 minutes. Add the ginger and cook for an additional 30 seconds. Add the tofu back into the pan and stir to combine.

Pour the stir-fry sauce over the mixture, stirring gently to coat. Continue cooking for an additional 1 minute to heat through.

Divide the prepared rice into serving bowls, then top with tofu stir fry. Sprinkle with fresh cilantro or green onions and sesame seeds, if using, and serve hot.