My fresh edamame was delicious! However, not the same difference as between a home grown and store bought tomato. The home grown edamame is a bit more flavorful and has better texture. It was much more hairy! Since they were very easy to grow, I am planning a bigger crop next year.
To cook, I steamed the freshly picked beans for 3-4 minutes. Just until the pods started to open a little bit. They cooked a little faster than the frozen ones I usually buy. The bowlful I harvested today is about a quarter of my crop I would guess.