Make Sauce: Mix water, soy sauce, dark soy sauce, cornstarch, sweetener, vinegar, pepper, and chili garlic sauce. Set aside.
Boil Noodles: Cook ramen noodles until just underdone, then drain.
Sauté Veggies and Tofu: Sauté your veggies or tofu for 4-5 minutes.
Make Sauce in Pan: Sauté garlic, then add sauce mixture. Simmer for 2-3 minutes until thickened.
Combine: Add cooked noodles to the pan, toss to coat in the sauce, and cook for 3 more minutes.
Serve: Garnish with scallions and sesame seeds, and serve hot!