Cut the tofu into medium-sized cubes, then pat dry with paper towels to remove excess moisture.
Prepare the marinade: in a bowl, whisk together the soy sauce, sesame oil, grated ginger, minced garlic, honey (or maple syrup), rice vinegar, and black pepper.
Place the tofu cubes in the marinade and let them sit for at least 20 minutes to absorb the flavors.
In a skillet, heat the olive oil over medium heat. Cook the tofu cubes on all sides until golden brown and crispy (about 8-10 minutes).
Before serving, sprinkle the tofu with toasted sesame seeds, if using. Serve fresh with steamed rice, vegetables, or salad.
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