In a medium saucepan, combine the brown rice and water or vegetable broth. Bring to a boil over medium-high heat.
Reduce the heat to low, cover, and simmer for 40-45 minutes, or until the rice is tender and the liquid is absorbed. Remove from heat and let it sit for 5 minutes before fluffing with a fork.
In a small bowl, whisk together the soy sauce, sesame oil, rice vinegar, honey or maple syrup, minced garlic, and minced ginger to make the sauce. Set aside.
In a large skillet or wok, heat the vegetable oil over medium-high heat. Add the cubed tofu and cook until golden brown on all sides, about 5-7 minutes. Remove the tofu from the skillet and set aside.
In the same skillet, add the sliced bell peppers, snap peas, and julienned carrot. Stir-fry for 3-4 minutes, or until the vegetables are tender-crisp.
Return the tofu to the skillet and add the cooked brown rice and sliced green onions. Pour the sauce over the mixture and stir well to combine.
Cook for an additional 2-3 minutes, or until everything is heated through and well coated with the sauce.
Remove from heat and garnish with sesame seeds and chopped cilantro.
Serve the brown rice stir-fry hot, and enjoy!