Cook udon noodles according to package directions. Drain and set aside.

Heat sesame oil in a large pot or Dutch oven over medium heat. Add garlic and ginger and cook for 1 minute until fragrant.

Add vegetable broth and soy sauce to the pot. Bring to a boil.

Add tofu and mixed vegetables to the boiling broth. Cook for 5-7 minutes, or until vegetables are tender-crisp.

Add cooked udon noodles to the pot and stir to combine. Heat through.

Serve immediately, garnished with sliced scallions.