Prepare the sauce by whisking together dark soy sauce, mirin, rice vinegar, maple syrup, vegan mushroom sauce, sesame oil, chili garlic sauce, and mushroom seasoning if using. Set aside while preparing the vegetables.
If using vacuum-packed udon noodles, soak them in warm water for a few minutes until the noodles separate easily. Drain well and gently loosen them with your hands. If using dried udon noodles, cook according to the package directions until just tender, then drain.
Heat a large wok or skillet over medium-high heat. Add the vegetable oil and allow it to become hot before adding the aromatics.
Add the white parts of the green onions, ginger, and garlic. Stir-fry for about 30–60 seconds until fragrant.
Add the mushrooms and cook for 2–3 minutes until they begin to soften and develop a deeper flavor.
Add the cabbage, carrot, bell pepper, and bok choy stems. Stir-fry for another 3–4 minutes until the vegetables are slightly tender while still keeping some crunch.
Add the bok choy leaves and edamame, then toss everything together for another minute.
Push the vegetables to one side of the wok and add the prepared sauce. Allow it to bubble gently for a few seconds to enhance the flavor.
Add the udon noodles and toss everything together until the noodles are evenly coated in the glossy sauce.
Continue stir-frying for 2–3 minutes until the noodles are heated through and the sauce has slightly thickened. Be gentle while tossing to avoid breaking the noodles.
Remove from heat and garnish with the remaining green onions and sesame seeds.
Serve warm with extra chili sauce, sesame seeds, or fresh herbs if desired.