Chop tofu. Add it to a bowl with the soy sauce and maple syrup. Set aside.
Preheat oven to 400F. Add all chopped veggies to a lined sheet pan, and coat with the lemon juice, garlic seasoning, nutritional yeast, salt and pepper. Make space for the tofu and add it to the pan.
Place in the oven for 35 minutes, until the Brussel sprouts are cooked through.
Serve over cooked rice, with additional teriyaki sauce or soy sauce as desired, as well as hemp hearts or sesame seeds.