01 - Preheat the oven to 425°F. Line a baking sheet with parchment paper.
02 - Drain and press the tofu for at least 10 minutes to remove excess moisture. Cut into 1-inch cubes.
03 - In a mixing bowl, gently toss tofu cubes with oil, cornstarch, salt, and black pepper until evenly coated.
04 - Arrange tofu cubes in a single layer on the prepared baking sheet. Bake for 25 to 30 minutes, flipping halfway through, until golden and crispy.
05 - While the tofu bakes, whisk together peanut butter, soy sauce, maple syrup, rice vinegar, sesame oil, minced garlic, and grated ginger in a bowl. Gradually add warm water, 1 tablespoon at a time, until the sauce is smooth and pourable.
06 - Transfer baked tofu to a large bowl and pour over the peanut sauce. Gently toss to coat evenly.
07 - Serve immediately, topped with toasted sesame seeds, sliced spring onions, and fresh cilantro if desired.