Add the tofu, not crowding the pan and give the tofu cubes a shake of salt and pepper.
Cook each side of the tofu for ~2 minutes until each side is golden brown.
While tofu cooks, prepare the balsamic sauce. Add the balsamic vinegar, mustard, honey, soy sauce, grated garlic, a shake of salt and pepper, and the remaining 1 tbsp olive oil to a jar. Close the jar and shake vigorously to combine everything.
Once the tofu is cooked on all sides, reduce the heat a bit and pour the balsamic sauce over the tofu in the pan.
Continue to cook for a few minutes, stirring the tofu occasionally to coat it all the balsamic sauce. The tofu is done cooking when the sauce has reduced significantly and thickened up to a sticky texture that easily coats the tofu.