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In a shallow dish, combine balsamic vinegar, soy sauce, maple syrup, oil, Italian seasoning, and garlic. Season with salt and pepper to taste.
Add the tofu and toss gently to coat. Arrange in a single layer and allow to marinate, turning once, for 30-60 minutes.
Heat grapeseed oil in a large cast iron or non-stick skillet over medium heat. Using a slotted spoon, remove the tofu from the marinade and transfer to the hot pan. Cook 5-7 minutes, shaking the pan or carefully turning the tofu cubes so they get brown and crisp on all sides.
Add the remaining marinade to the pan and allow to cook, stirring, just until it has evaporated. Remove from the heat.
Serve balsamic tofu however you can imagine such as over pasta, in sandwiches, or as a topping to salads.