Bring a large pot of salted water to a boil and cook the chickpea penne according to package directions until al dente.
While the pasta cooks, press the extra firm tofu between paper towels to remove excess moisture, then crumble it into small pieces with your hands.
Heat the olive oil in a large skillet over medium heat and sauté the diced onion, carrots, and minced garlic until the vegetables are softened and fragrant.
Add the crumbled tofu to the skillet and cook for 5-7 minutes, stirring occasionally, until the tofu begins to lightly brown.
Stir in the tomato sauce, nutritional yeast, dried oregano, sea salt, and black pepper, then let the mixture simmer on low for 10 minutes to develop flavor.
Drain the pasta and toss it directly into the skillet with the tofu bolognese, stirring well to coat every noodle before serving.