Preheat your oven to 400°F (200°C). Line a large baking sheet with parchment paper.
In a small bowl, whisk together soy sauce, maple syrup, rice vinegar, sesame oil, garlic, ginger, and cornstarch until smooth.
Arrange the tofu cubes and vegetables on the baking sheet.
Drizzle everything with olive oil, season with salt and pepper, and toss to coat.
Pour the sauce evenly over the tofu and vegetables and toss gently again.
Roast for 25-30 minutes, flipping halfway, until the tofu is golden and veggies are tender.
Sprinkle with sesame seeds and garnish with green onions before serving.