Drain the tofu and press it using a tofu press or by placing it between paper towels with a heavy object on top to remove excess water.
Cut the tofu into 1-inch cubes.
Toss the tofu in a large bowl with cornstarch, soy sauce, and sesame oil until evenly coated.
Preheat the oven to 400°F (200°C).
Arrange the tofu cubes in a single layer on a large baking sheet.
Bake for 25-30 minutes, flipping halfway through, until golden brown and crispy.
While the tofu is baking, toss the halved Brussel sprouts in olive oil, salt, and black pepper.
Spread them out in a single layer on another baking sheet.
Roast in the oven (you can place them on the top rack) for 20-25 minutes until golden brown and crispy, shaking the pan halfway through.
In a small saucepan over medium heat, combine soy sauce, maple syrup, rice vinegar, lemon juice, sesame oil, and brown sugar.
Bring to a gentle boil, then reduce heat and let it simmer for 5-7 minutes.
In a small bowl, mix the cornstarch with a little bit of water to create a slurry, then add it to the glaze.
Stir until the glaze thickens, then remove from heat.
Combine and Serve:
Toss the roasted Brussel sprouts and crispy tofu together in a large bowl.
Drizzle the glaze over the top and gently toss to coat evenly.
Garnish with sesame seeds and serve immediately.