Put the frozen edamame onto a plate and set aside to allow to thaw.
Bring a big pot of boiling water to a boil.
While the water is heating up, heat a large pan/skillet over medium-high heat. Add the tofu and brown it on all sides.Once it's browned on all sides, set aside on a plate.
Once the water comes to a boil, add the udon noodles. After 3 minutes in the boiling water, they should be almost done. Add the edamame to the noodles and cook for an additional minute.
Check the noodles, they should be al dente, Before pouring the noodles and edamame into a colander, reserve approx 1 cup of the pasta water.
After you've drained the noodles and edamame, add them back into the pasta pot. Now add about a ½ of the pesto mixture, the tomatoes, and approx 4 tablespoons of parmesan. Mix everything together until the pasta is well coated with the pesto, adding the reserved pasta water, a little at a time, to make a silky pesto sauce and prevent the pasta from drying out. Continue to add more pesto, parmesan cheese, and reserved pasta water, until you reach the sauce consistency you enjoy.
Then, taste the noodles and adjust the seasonings. If you feel the pasta needs salt, try adding a splash of lemon juice first to make the ingredients pop. If you still feel like the pasta needs salt and pepper, and at this time.
Last, add the tofu to the pasta and gently combine until every is well coated. Serve the pasta in bowls adding additional cilantro and cheese to your liking.
Enjoy!