Heat olive oil in a large pot over medium heat. Once hot, add the onions, ginger, and jalapeno and cook for a few minutes, stirring often. Add in the sweet potato, carrots, and cabbage. Cover and cook for about 3 minutes, or until cabbage starts to wilt. Add in the broth, increase heat to medium-high, and bring to a boil. Reduce the heat to a simmer and cook for 5 minutes.
In the meantime, whisk together the soy sauce, rice vinegar, salt, pepper, cold water, and cornstarch in a separate bowl; set aside.
To the pot, add the zucchini, bell peppers, and tofu and simmer until the veggies are tender, about 5 minutes. Add in the soy sauce mixture and stir; cook until the soup thickens, about 10 minutes. Add in the bok choy and tomatoes and bring the soup back to a simmer and cook an additional 4-5 minutes. Stir in the sesame oil and serve hot.