Bring a pot of water to a boil and cook the udon noodles according to package instructions until tender. Drain and set aside.
In a saucepan, heat sesame oil over medium heat. Add minced garlic and sauté until fragrant, about 1 minute.
Add gochujang and soy sauce to the pan, stirring to combine. Pour in the heavy cream and simmer gently, stirring until the sauce is smooth and heated through.
Add the tofu cubes to the sauce and simmer for 3-4 minutes to warm the tofu and infuse flavor.
Add the cooked udon noodles to the pan and toss gently to coat them evenly with the creamy gochujang sauce.
Divide the noodles into shallow bowls. Twirl the noodles neatly and top with tofu cubes, sliced green onions, and a sprinkle of sesame seeds.
Serve immediately, enjoying the creamy texture and vibrant flavors.