Preheat oven to 400°F and line a sheet pan with parchment paper.
Whisk the hoisin, tamari, maple syrup, vinegar, oil, ginger, sriracha and garlic cloves together in a small bowl.
Place the tofu, broccoli, onion, pepper and zucchini on the lined sheet pan. Drizzle with ⅔ cup of the sauce and gently toss to coat.
Bake the tofu and vegetables for 20 minutes; stir and bake for 20 minutes more, or until the vegetables are softened and just beginning to brown.
Serve the vegetables over bowls of grains; drizzle with the remaining sauce, sesame seeds, and fresh herbs, if you're using them.