Press the thawed tofu to remove excess moisture. Slice the tofu into 1/2-inch thick rectangles or cubes.
In a shallow dish, whisk together miso paste, soy sauce, rice vinegar, maple syrup, grated ginger, minced garlic, and sesame oil to create the marinade.
Place the tofu slices in the marinade, ensuring that each piece is well coated. Cover the dish and refrigerate for at least 30 minutes, or overnight for maximum flavor.
Heat a non-stick skillet or grill pan over medium heat. Remove the tofu from the marinade and shake off any excess. Reserve the marinade for basting.
Cook the tofu for 3-4 minutes on each side, or until golden brown and crispy. Baste with the reserved marinade during cooking for extra flavor.
Once the tofu is cooked through and caramelized, remove it from the heat and garnish with sliced green onions and toasted sesame seeds.
Serve the miso ginger tofu hot with your favorite side dishes or incorporate it into stir-fries, salads, or rice bowls for a nutritious and satisfying meal.