Cook edamame in boiling water according to the package instructions. Drain well and set aside. Remove the peel, pith and membrane of the oranges with a knife. Holding the peeled fruit over a bowl, cut along each side of the membrane between the sections, letting each freed section drop into the bowl. Cut each orange section crosswise into 3 or 4 pieces. In a salad bowl, combine the oranges, edamame, onion and bell pepper. In a small bowl, whisk together the rice vinegar, canola oil, soy sauce, orange zest, and ginger until blended. Pour the dressing over the vegetables and stir gently to mix. Garnish with the cilantro and serve.