I highly recommend using Super Firm Tofu that's vacuum packed. Extra Firm should be pressed and it will need to bake longer to get chewy. Remove tofu from packaging and pat dry. Crumble by hand into a mixing bowl. You can also use a fork or potato masher to mash it.
Make the marinade by combining everything in a bowl. You can also blend in a blender or with an immersion blender to create a better emulsion.
Quick & Easy Method (My Preferred)
Recently I've been just crumbling the tofu into a pan and cooking it in the marinade. While this won't get you the chewy texture that baking does, it's still pretty dang good and ready in a lot less time! Perfect for a quick meal!
Just cook the crumbled SUPER FIRM tofu in a large skillet for about 10 minutes over medium heat to dry it out a bit more, and to get it golden brown. Don't crowd the pan. You may need to do it in 2 batches or if you have two pans, you can cook them at the same time.
Then add the marinade, toss to coat and cook for about 5 minutes until it gets some nice browning. Add in more water or broth if desired and enjoy!
Baking Method
This method takes longer, but you will get a chewier texture!
Pour the marinade over the crumbled tofu. With clean hands or utensils, toss the crumbles and coat thoroughly in the marinade.
Line a baking sheet with parchment paper / cooking spray and spread out the tofu pieces in a single layer. Bake at 350 F / 175 C for 30 - 40 minutes, or until the tofu is slightly dried out and chewy. Toss tofu about 20 minutes in and check it every 5 - 10 minutes and bake until it's slightly chewy.Extra Firm tofu may take up to an hour or more. I would suggest checking it every 15 minutes if you're unsure so you don't dry it out too much.
Transfer the tofu to a 12 inch skillet, and add 1 cup of liquid (either water, broth, or a mixture, depending on how salty you want the tofu, I suggest tasting the tofu before adding any broth so it doesn't get too salty) and stir to combine. Bring to a simmer and then simmer until the liquid is mostly reduced. About 5 - 10 minutes or so. Taste and adjust for seasoning.
Your tofu is done! Enjoy as you wish! Like I said it can be used in just about any application you would use regular ground beef!