• Whisk the soy sauce, maple syrup, rice vinegar, ginger, onion, garlic, and sesame oil together in a small bowl or cup.
• Cut the tofu into smaller pieces. This can mean dicing it (1-inch cubes work well), cutting it into triangles, strips or slabs.
• Place the tofu into a shallow dish or bowl and pour the marinade over it.
• Allow the tofu to marinade for at least 30 minutes or up to 24 hours. Be sure to cover and chill it if marinating for more than 2 hours. Gently stir the tofu periodically while it marinates.

For Baked Tofu

• Preheat the oven to 400°F and line a baking sheet with parchment paper.
• Arrange the tofu cubes in an even layer on the baking sheet.
• Bake the tofu pieces for 30 to 40 minutes, flipping them halfway through and drizzling some excess marinade on top.
• The tofu is done baking when the pieces have darkened and shrunk.

For Pan-Fried Tofu

• Coat the bottom of a medium skillet with oil and place it over medium heat.
• When the oil is hot, remove the tofu pieces from the marinade. Gently shake or blot off any excess marinade, then place them in an even layer in the skillet.
• Cook the tofu for about 10 minutes, flipping halfway through, until the pieces are browned and crispy.
• Drizzle the tofu with some excess marinade and continue cooking until it dries up and caramelizes on the surface of the tofu pieces.

For Grilled Tofu

• Lightly oil a barbecue grill and build a medium flame.
• Remove the tofu pieces from the marinade and place them on the grill.
• Close the grill and cook the tofu for about 10 minutes, flipping halfway through, until darkened and lightly charred.