Mix soy sauce, orange juice, sriracha sauce, brown sugar, and ginger together in a bowl. Pour mixture over the tofu in a separate bowl. Set aside.

Heat oil in a frying pan over medium-high heat. Saute onion until softened, 2 to 3 minutes. Add carrots; saute for 3 to 5 minutes. Add bell pepper strips, broccoli, and garlic. Saute, stirring frequently, for 5 minutes. Add tofu mixture; cook and stir until liquid has reduced and vegetables reach desired softness, 5 to 7 minutes more. Season with salt; stir in cashews, mango, and lime juice.