Preheat your oven to 425°F (220°C). Line a baking sheet with parchment paper.
Press the tofu to remove excess moisture, then cut into bite-sized cubes. In a bowl, gently toss tofu with half of the sesame oil and a pinch of salt if desired.
Spread the broccoli florets on the baking sheet. Drizzle lightly with a small amount of sesame oil, and season with salt and pepper.
Roast the broccoli in the oven for about 20 minutes until tender and slightly crispy on the edges. At the same time, place the tofu cubes on a separate baking sheet and roast for 25-30 minutes, flipping halfway, until they develop a golden, crispy exterior.
While the tofu and broccoli are roasting, prepare the peanut sauce. In a small bowl, whisk together the peanut butter, soy sauce, rice vinegar, maple syrup, minced garlic, grated ginger, and a splash of warm water to loosen the sauce consistency.
Once the tofu and broccoli are done, assemble your plate by arranging a bed of roasted broccoli topped with crispy tofu. Drizzle the peanut sauce evenly over the dish.
Serve immediately and enjoy this flavorful, protein-packed meal.