Preheat your oven to 400°F (200°C) and line a baking sheet with parchment paper.
Prepare your tofu by draining and pressing out any excess liquid*. Using your hands, a fork, or a potato masher, crumble the tofu into a bowl until it resembles ground beef.
Combine the soy sauce (or tamari), tomato paste, maple syrup, garlic powder, onion powder, and paprika powder in a small mixing bowl. Mix well to create a flavorful marinade.
Pour the marinade over the crumbled tofu and mix well (gently), ensuring that the tofu is evenly coated**.
Spread the marinated tofu crumbs evenly on the prepared baking sheet, forming a thin layer. It's essential to spread the mixture thinly for even cooking and browning.
Bake the vegan ground beef in the center rack of the oven for 20 to 25 minutes or until the mixture is slightly crispy and browned. Check and stir the mixture every few minutes to ensure even baking and achieve your desired texture. Be cautious not to burn it.
Remove from the oven and let it cool for a few minutes—adjust season with salt and pepper to taste.
Enjoy as is or in your favorite dishes calling for ground beef.