Preheat your oven to 425F. To prepare the marinade, whisk all ingredients together in a small bowl.
Arrange the prepared vegetables and tofu onto one or two parchment-lined baking sheets. Pour about half of the marinade over the vegetables. Use your hands to mix the ingredients well, coating everything with the marinade. Sprinkle the baking sheets with the rosemary and thyme, as well as a dash each of salt and pepper.
Roast the vegetables and tofu for 35-40 minutes, or until the sprouts are crispy and tender inside, stirring once after 25 minutes.