Gather the ingredients.

Preheat the oven to 350 degrees F (175 degrees C). Lightly grease a large baking sheet with cooking spray.

Whisk soy sauce, agave, sesame oil, garlic, and ginger together in a bowl until evenly combined.

Gently press tofu pieces to release as much water as possible.

Arrange tofu on the prepared baking sheet and brush with 1/2 of the soy mixture.

Bake tofu in the preheated oven for 30 minutes.

Flip tofu and brush with remaining soy mixture. Sprinkle sesame seeds over top. Continue baking until tofu is crisp, about 30 more minutes.

Remove from the oven and use a spatula to transfer tofu to a wire rack to cool.