Cut tofu and vegetables into bite-sized pieces.
Add cooking oil to a pot and sauté minced garlic.
Add onion and green onion, and stir-fry together.
Add tofu and cooked beans, and stir-fry lightly.
Pour in kelp for broth and water, and bring to a boil.
Once the broth is infused, remove the kelp.
Add soy milk and simmer over medium heat for 3-5 minutes.
Season with salt and pepper to taste.
Serve the finished bean soup rice in a bowl.