Cut the tofu into desired shape, then place it on a baking sheet lined with paper towel or kitchen towel. Top with more towel, and heavy objects and allow to sit for 30 minutes.
Meanwhile, in a plastic bag, mix together the oil, balsamic, tamari, maple, rosemary, mustard, pepper and garlic. Add the tofu and allow to marinate in the fridge overnight or at least for 2 hours.
Cook on the grill over medium heat until grill marks appear on each side, about 5 minutes per side. To pan-fry, cook in a large nonstick or cast-iron skillet over medium high heat with a tablespoon of oil for 4 minutes per side. To bake, preheat oven to 425 F and cook for 30 minutes, flipping half way through. You can also broil it for 2-3 minutes to get it extra crispy. Enjoy!