Bring the rice, water, and salt to a boil in a medium saucepan. Reduce heat, cover, and simmer until tender, about 15 minutes. Remove from heat and let stand, covered, for 5 minutes. Fluff with a fork.
Heat 2 tablespoons of olive oil in a large skillet over medium. Add the onion and cook, stirring occasionally, until softened and lightly browned, 7 to 8 minutes.
Add the garlic, ginger and ground beef. Cook, breaking up the meat with a spoon, until browned and cooked through, 8 to 10 minutes.
Stir in the zucchini, bell pepper and carrots. Add the coconut aminos, maple syrup, rice vinegar, sesame seeds, salt and pepper. Cover and cook until the vegetables begin to soften, about 8 to 10 minutes.
Uncover, stir in the edamame, sesame oil and remaining 1 tablespoon olive oil. Continue cooking, stirring occasionally, until the sauce reduces slightly and the vegetables are tender and lightly caramelized, 8 to 12 minutes more. Taste and adjust salt.