Cut the pressed tofu into 1-inch cubes. If using wooden skewers, soak them in water for at least 30 minutes to prevent burning.
In a large bowl, whisk together the soy sauce, olive oil, maple syrup, garlic, ginger, smoked paprika, black pepper, and red pepper flakes (if using).
Add the tofu cubes and vegetables to the marinade, tossing gently to coat. Cover and refrigerate for at least 30 minutes, or up to 2 hours for more flavor.
Preheat your grill or grill pan over medium heat.
Thread the marinated tofu and vegetables onto the skewers, alternating between tofu and veggies.
Grill the kebabs for about 10-15 minutes, turning occasionally, until the vegetables are tender and slightly charred, and the tofu is heated through.
Serve the kebabs hot, garnished with fresh herbs if desired.