Usually, I pan sear this tofu in a skillet. It only takes a few minutes. The sugars in the marinade caramelize quickly, giving the tofu a nicely browned exterior. However, you can also bake the tofu, if you prefer an easy hands-off cooking method. The tofu doesn't get as crispy on the outside when it's baked and is slightly less flavorful. Set the marinated tofu on a sheet-pan that's lined with parchment. Bake the tofu until nicely browned, about 25 minutes.