Combine soy sauce, vinegar, maple, oil, crushed garlic and grated ginger in a bowl. Then, add the starch dissolved in water.
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Bring the mixture to a boil over low heat until it thickens into a glossy sauce.
Slice the tofu into thick slabs and coat them with the teriyaki sauce, smearing it with the back of a spoon.
Bake the tofu for 20 minutes at 200°C (390°F). Serve with sesame seeds, sticky rice, and steamed greens.
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