Preheat your oven to 400°F (200°C).
Cut the pressed tofu into 1-inch cubes and place them in a large bowl.
In a separate bowl, whisk together the balsamic vinegar, soy sauce, maple syrup, olive oil, garlic powder, onion powder, black pepper, and salt.
Pour the marinade over the tofu cubes and gently toss to coat. Let it marinate for at least 15 minutes.
While the tofu is marinating, prepare the mixed vegetables and spread them evenly on a baking sheet. Drizzle with a little olive oil and season with salt and pepper.
Roast the vegetables in the preheated oven for about 20 minutes, stirring halfway through.
After the vegetables have roasted for 20 minutes, add the marinated tofu to the baking sheet, spreading it out evenly.
Return the baking sheet to the oven and roast for an additional 20-25 minutes, or until the tofu is golden brown and slightly crispy.
Remove from the oven and sprinkle with sesame seeds, if using. Garnish with fresh basil or parsley before serving.