Wrap the tofu block in a clean kitchen towel and place a small cutting board or plate on top with something light to weigh it down. Let it sit for 15 to 20 minutes to remove extra moisture.

In a medium bowl, whisk together olive oil, balsamic vinegar, basil pesto, garlic powder, salt and pepper until the mixture looks smooth and slightly thick.

Unwrap the tofu and cut it into cubes or triangles about 1 inch in size. Add the tofu to the bowl with the marinade and gently toss so every piece is coated. Let it sit at room temperature for at least 30 minutes, stirring once or twice.

Preheat the oven to 400°F (200°C). Line a large sheet pan with parchment paper. Add the cherry tomatoes, asparagus pieces, red onion and bell pepper to the pan. Drizzle with olive oil, sprinkle with salt and pepper, and toss everything so the veggies are lightly coated. Spread them out in a single layer.

Arrange the marinated tofu pieces over and around the vegetables, leaving a bit of space between each piece. Spoon any extra marinade from the bowl over the tofu.

Place the pan on the center rack. Bake for 15 to 20 minutes, then carefully flip the tofu pieces. Continue baking for another 5 to 10 minutes, until the tofu is golden and the vegetables are tender with browned edges.

Remove the pan from the oven. Drizzle everything with balsamic glaze and sprinkle with fresh basil. Taste and adjust salt and pepper. Serve warm over rice, quinoa or pasta, or straight from the pan.