Preheat the oven to 350F (180C) (note 2).
Drain the tofu and press it well until all the excess moisture is squeezed out so that it is ready to absorb the marinade.
Slice the tofu into ½-inch thick pieces (squares or rectangles) and place on a plate or shallow bowl.
Prepare the marinade: In a small bowl, whisk the soy sauce, ginger, garlic, and rice vinegar. Pour the marinade on the tofu, coat well, and allow it to marinate for at least 10-15 minutes.
While the tofu is marinating, prepare the dipping sauce. Add the chickpea flour in a shallow bowl, slowly add the milk and whisk to combine until you get a creamy consistency. Then add the soy sauce.
Place the sesame seeds on a small plate. Remove each tofu slice from the marinade, allowing the excess to drip off, then dip each piece in the marinade. Then dip in the sesame seeds and press well, coating each side and all around.
Place the tofu on a parchment-lined baking sheet and bake for 20 minutes, flipping halfway through.
Serve hot with cooked rice, edamame, and green onions, or use it as a sandwich filler or as a lunch bowl topper.
Optional dipping sauce: You can use any dipping sauce you like. To make my favorite mix lemon juice, soy sauce, tahini, cold water, and maple syrup until combined. Add more water if you prefer it a bit runnier.