Preheat oven to 425°F and line a sheet pan with parchment paper.
In a medium bowl, whisk together soy sauce, sesame oil, rice vinegar, maple syrup, garlic, and ginger.
Add tofu cubes, broccoli, and snap peas to the bowl and toss gently to coat everything with the sauce, reserving 2 tablespoons of sauce.
Arrange tofu and vegetables on the sheet pan in a single layer with space between pieces.
Roast for 20 minutes, then flip tofu cubes and stir vegetables.
Brush with reserved sauce and roast for 10 more minutes until tofu is golden and crispy on the edges.
Sprinkle with sesame seeds and sliced green onions before serving over rice if desired.