Mix sauce ingredients in a bowl until well combined and set aside.
Slice pressed tofu crosswise into 1/2-inch-thick pieces; cut each piece diagonally into 2 triangles (this is an optional step or you can just cube the tofu).
In a heated non-stick pan with a drizzle of oil, pan-fry tofu on both sides until golden brown.
Then, add in the sauce and cook for 1 minute or until the sauce is slightly reduced
Add the asparagus, place a lid over, turn heat to low-medium, and let the mixture cook for 45 seconds to 1 minute depending on your crunch preference. (Asparagus will turn bright green at this time. If you prefer softer asparagus, you may cook it longer.)
Remove the lid, give the mixture a final quick toss.
Serve warm with rice and garnish with sesame seeds.