Start by pressing the tofu to remove as much water as possible. You can use a tofu press if you have one, or simply wrap the tofu in paper towels and place a heavy pan on top for 15-20 minutes.
Once pressed, slice the tofu into about ½ inch thick slices.
In a small mixing bowl, whisk together the olive oil, balsamic vinegar, maple syrup, Dijon mustard, chopped shallots, minced garlic, salt, and pepper until well combined.
Place the tofu slices in a large bowl or shallow baking dish. Pour the marinade over the tofu, ensuring all the pieces are evenly coated.
Cover and refrigerate for at least 2 hours, or ideally overnight, to let the tofu soak up all that incredible flavor.
Preheat your BBQ grill (or grill pan) to medium-high heat. Lightly oil the grill grates to prevent sticking.
Remove the tofu from the marinade, letting any excess liquid drip off. Place the tofu slices on the grill.
Cook for 7 to 10 minutes per side, until the tofu is nicely charred and heated through.
Serve the grilled balsamic tofu steaks hot, garnished with extra chopped herbs if you like!