Press the tofu: Wrap it in a clean towel or paper towel, then place a heavy object, such as a cast-iron skillet, on top to squeeze out the moisture. Allow it to rest for 15–20 minutes to drain any extra moisture. Once pressed, cut it into bite-sized cubes.
Prepare the tofu coating: In a small bowl, toss the cubes with 3 tablespoons of cornstarch and a pinch of salt. Make sure each piece is evenly coated.
Make the orange sauce: In a small bowl, combine the orange juice, orange zest, soy sauce, rice vinegar, maple syrup, grated ginger, and minced garlic. In a separate bowl, mix 1 tablespoon of cornstarch with 2 tablespoons of water to make a slurry, then stir this into the sauce mixture.
Cook the tofu: Heat sesame oil in a large skillet or wok over medium-high heat. Add the tofu cubes in batches, frying them until golden and crispy, about 3–4 minutes per side. Remove the tofu from the pan and set it aside temporarily.
Thicken the sauce: Pour the prepared orange sauce into the same pan and simmer. Allow the sauce to simmer for 2–3 minutes until it thickens and develops a glossy finish.
Combine tofu and sauce: Return the crispy cubes to the pan and gently toss them in the sauce until evenly coated. Cook for 1–2 minutes, allowing the tofu to soak up the sauce.
Serve and garnish: Serve the tofu over steamed rice or noodles, and garnish with sesame seeds, chopped green onions, and cilantro if desired.