Blend peanut sauce ingredients in a Nutribullet or high speed blender.
Preheat oven to 400°F.
Cut drained and pressed tofu into cubes. Brush peanut sauce on tofu and place on an oiled parchment lined baking sheet. Bake at 400°F for 8 minutes.
Pull the baking sheet with tofu out of the oven. Mix chopped vegetables with olive oil. Spread on the baking sheet with tofu. Sprinkle salt and pepper on top. Bake at 400°F for 10 minutes, then flip tofu and vegetables. Bake for 25 minutes more or until tofu is crispy and veggies are tender.
Notes
If you want equal-sized vegetables, then you'll need to add veggies at different times. If you prefer for the vegetables to be done at the same time, you'll need to adjust their size. Of course, you could always choose vegetables that cook at the same time. I used what I had on hand.
Tofu takes longer to bake than most vegetables, so it needs to be put in the oven before the vegetables for the best texture.
Don't brush too much peanut sauce on the tofu when baking - it will bake onto the parchment paper. Not to mention you'll want the extra sauce for drizzling on the finished tofu and veggies.