Spicy Gochujang Noodles

Name: Spicy Gochujang Noodles
Ingredients: 2 tablespoon(s) light oil ((such as canola or vegetable)); 1 14oz block(s) firm tofu (drained); 8 oz udon noodles ((or gluten-free noodle of choice if preferred)); 4 tablespoon(s) gochujang sauce ((gluten-free if preferred)); 3 tablespoon(s) hoisin sauce ((gluten-free if preferred)); 3 tablespoon(s) lime juice & zest from 1 lime; 2 clove(s) garlic (minced, divided); 2 teaspoon(s) toasted sesame oil; 1/3 cup(s) water; 2 carrots (peeled & thinly sliced); 4 baby bok choy (thinly sliced, white & green parts separated); 1 teaspoon(s) sesame seeds (to garnish); 4 green onions (sliced, for garnish)