Zest one of the oranges. Set zest aside.
In a bowl, add the orange juice, half the orange zest, vegetable stock, rice wine vinegar, maple syrup, soy sauce, minced garlic, and grated ginger. Whisk together and set aside.
In a separate smaller bowl, combine cornstarch and water. Set aside.
While the tofu is baking, in a large skillet, over medium heat, add the orange sauce.
Just before the tofu is finished, add in the cornstarch and water mixture (slurry) to the warmed orange sauce and stir together. Add the baked tofu and gently stir to coat the tofu in the sauce.
Remove from heat and serve over rice or noodles and with vegetables like snow peas, broccoli, or carrots. Top with remaining orange zest, sesame seeds, and/or green onions, if desired.