Preheat your oven to 400°F and line a large baking sheet with parchment paper for easy cleanup.
Press the extra-firm tofu for at least 15 minutes to remove excess water, then cut into 1-inch cubes.
Trim the woody ends off the asparagus and cut the spears into 2-inch pieces.
In a large mixing bowl, whisk together the olive oil, lemon juice, lemon zest, oregano, garlic powder, sea salt, and black pepper.
Add the tofu cubes and asparagus pieces to the bowl and toss gently until every piece is thoroughly coated in the marinade.
Spread the mixture in a single layer on the prepared baking sheet, ensuring the pieces are not touching to allow for even browning.
Roast in the oven for 25 to 30 minutes, flipping the tofu halfway through, until the tofu is golden and the asparagus is tender-crisp.
Remove from the oven and serve immediately while hot.