In a medium saucepan, combine white miso, gochujang, apple cider vinegar, honey, ginger, garlic, and water.

Bring the mixture to a simmer over medium-low heat, stirring occasionally.

Cook until the sauce reduces to a thick glaze, about 10 to 15 minutes.

Bring a large pot of salted water to a boil.

While the water is heating, prepare the tofu.

Drain the tofu and wrap it in paper towels.

Place a plate on top of the tofu to press out excess water.

Let the tofu press for 10 minutes, then discard the paper towels.

Cut the tofu into 2-inch by 1-inch pieces.

Toss the tofu pieces with canola oil on a foil-lined baking sheet.

Arrange the top oven rack 6 inches below the heating element and preheat the broiler to high.

Place the baking sheet under the broiler and cook until the tofu pieces are lightly browned on top, about 3 to 4 minutes.

Flip the tofu pieces and brown lightly on the other side for another 3 to 4 minutes.

Remove the baking sheet from the oven.

Brush the tofu pieces on both sides with the prepared miso glaze.

Return the baking sheet under the broiler and cook until the glaze has browned, about 2 to 3 minutes per side.

Add the asparagus to the boiling water.

Cook the asparagus until bright green and tender, about 3 minutes.

Drain the asparagus.

Divide the broiled tofu and asparagus between four plates.

Drizzle any extra glaze over the asparagus.

Sprinkle with sesame seeds and serve immediately.