Preheat the grill to medium heat (375°F).
Place the tofu cubes in a large mixing bowl and set aside.
In a small bowl, whisk together the sesame oil, miso paste, soy sauce, ginger, garlic, and maple syrup. Adjust seasoning to taste then pour over the cubed tofu and gently toss to coat.
Marinate the tofu for at least 30 minutes, up to a few hours.
Thread the marinated tofu onto metal skewers. If you prefer wooden skewers, soak them in water for 30 minutes prior to use.
Generously coat the grill grate with high-heat non-stick grilling spray. Place the tofu skewers onto the direct heat of the grill.
Cook for 5 minutes per side (exact time may vary depending on your grill), basting with any extra marinade each time the skewers are turned. The tofu is done when there are visible grill marks and the tofu is lightly browned. Serve hot.