Place pressed tofu cubes in a shallow container or bowl. In a separate small bowl, whisk soy sauce, miso, brown sugar, vinegar, red pepper flakes, garlic, and ginger. Pour sauce over tofu and gently toss tofu to evenly coat in marinade.
Cover tofu with either a lid or plastic wrap and allow to marinate in fridge at least 2 hours (or overnight) shaking tofu occasionally to evenly submerge in sauce.
When ready to bake, preheat oven to 375F and lightly grease a large sheet pan.
Arrange bok choy on half of sheet pan and rub sesame oil all over. Season with salt and pepper to taste. Bake bok choy at 375F 15 minutes.
Remove tofu from fridge and arrange cubes on other half of sheet pan, pouring marinade over top of tofu and bok choy. Bake tofu and bok choy an additional 15-20 min at 375F until bok choy is tender and tofu is golden brown.
Serve tofu and bok choy with hot rice with sesame seeds and scallions on top as garnish. Enjoy