Press the tofu to remove excess moisture, then cut it into cubes.
In a bowl, mix together the soy sauce, rice vinegar, maple syrup, sesame oil, garlic, and ginger to make the marinade.
Add the tofu to the marinade, ensuring all pieces are well-coated. Let it marinate for at least 15 minutes, or longer for more flavor.
Preheat a pan over medium heat and add the marinated tofu. Cook for about 5 minutes on each side until golden brown.
Serve the marinated tofu warm or store it in the refrigerator for up to 3 days for later use in salads or sandwiches.