Preheat oven to 400°F (200°C).
Make the glaze: Whisk together maple syrup, Dijon mustard, garlic, lemon juice and vegetable broth. Season with salt and pepper.
Marinate the tofu: Toss tofu cubes in half the glaze and let sit for 5-10 minutes.
Assemble sheet pan: Arrange tofu and vegetables on a parchment paper on a baking sheet. Drizzle with the remaining glaze.
Roast: Bake for 20-25 minutes, flipping halfway, until tofu is golden and the veggies are tender.
Serve: Garnish with fresh herbs or an extra squeeze of lemon if desired.