Preheat the oven to 450 °F (230 °C).
Whisk together the ingredients for the sauce (2 tbsp soy sauce or tamari, 1 tbsp miso paste, 1 tbsp maple syrup, 1 tbsp apple cider vinegar, and ¼ cup oil, 1 tsp red pepper flakes) in a large mixing bowl.
Toss 1 pound brussels sprouts, sliced in half and ¾ pound extra-firm tofu, sliced into cubes in the sauce mixture until well coated. If the bowl is too small, you can do it in batches.
Arrange on a half-sheet baking pan (18×13 inches) in a single layer, spaced evenly apart so that nothing is overlapping. Pour any remaining sauce over the pan.
Roast for 30 minutes, flipping halfway through.
