In a small bowl, whisk together soy sauce, honey, rice vinegar, cornstarch, and water. Set aside.
Heat vegetable oil and sesame oil in a large skillet or wok over medium-high heat until shimmering.
Add shrimp in a single layer and cook for 1-2 minutes per side until pink and opaque. Remove shrimp to a plate.
Add garlic, ginger, and white parts of green onions to the skillet. Stir-fry for 30 seconds until fragrant.
Add edamame and cook for 2 minutes, stirring occasionally.
Return shrimp to the skillet, pour in the sauce, and toss everything together. Cook for 1-2 minutes until sauce thickens and coats the shrimp and edamame.
Remove from heat, garnish with green onion tops and sesame seeds. Serve immediately over rice if desired.