Have you heard the basic plan for the opening of the new branch in Tokyo? This means ‘has someone told you what the plan is?’ Have you heard of the basic plan for the opening of the new branch in Tokyo? This means ‘do you know of the plan’s existence?’. Have you heard about the basic plan for the opening of the new branch in Tokyo? This could mean ‘did someone tell you about the plan?’, but it might mean with details or without. You would need more context to know.

The first is not correct. It only makes sense if the plan was presented audibly. “Have you heard the song?” “Of” and “about” have different meanings. Use “of” if you want to know if the person has any knowledge, no matter how little. Use “about” if you want to know if the person has more knowledge. Have you heard about the pension reform law? I’ve heard of it but have no idea what it will change for us.

The first one sounds most natural. The second two are still correct, but "of" and "about" are not necessary.