Set large pot of salted water on to boil. Once boiling, add the rice noodles and cover the pot. Remove from heat and let the noodles soften for 1-2 minutes until tender and chewy. Drain well.
Heat a large skillet over medium heat with a thin layer of oil on the bottom. Drain and press moisture out of tofu using a clean dish cloth or paper towel. Dice into 1/2 inch cubes. Add tofu to the hot skillet, and season with a sprinkle of salt and pepper. Cook for 5-7 minutes until golden. Toss or flip the tofu during cooking to ensure it gets cooked evenly on most sides. Once it's cooked to your liking, remove from skillet and set aside.
While the tofu is cooking, wash and slice the bell pepper into 1/4 inch pieces. Wash and mince cilantro. Roughly chop the peanuts. (Optional: zest the lime) Thinly slice the green onion.
Add 1/2 of the sesame oil to the used skillet, along with the bell pepper, ginger, garlic, carrot and half of the green onion. Saute for 3-4 minutes until softened and fragrant. While the vegetables are cooking, prepare the sauce by whisking together coconut sugar, 2 tbsp. of water (4 tbsp. for 4 servings), soy sauce, lime juice, remaining sesame oil, and tamarind concentrate. Add sauce, tofu and cooked rice noodles to the skillet and toss everything together well. Cook for a minute or so until the sauce thickens slightly.
Divide noodles, tofu and vegetables between serving dishes. Top with remaining green onion, cilantro, chopped peanuts, and lime zest if using. Enjoy!