Preheat the oven to 400°F (200°C).
Press the tofu block to remove the excess water, then slice it into 4 equal pieces.
In a mixing bowl, combine the panko bread crumbs, flour, salt, and black pepper. Mix well.
Dip each tofu slice into the plant-based milk, then coat it in the panko mixture.
Heat the vegetable oil in a large skillet over medium heat.
Add the coated tofu slices to the skillet and cook until golden brown on each side, about 3-4 minutes per side.
Transfer the tofu slices to a baking sheet lined with parchment paper, then bake for 10-12 minutes, until they are crispy and golden brown.
While the tofu is baking, prepare the tonkatsu sauce by combining the ketchup, soy sauce, agave nectar, rice vinegar, garlic powder, and ginger powder in a small bowl. Mix well.
Once the tofu is done baking, remove it from the oven and allow it to cool for a few minutes.
Slice the tofu into bite-sized pieces and serve with the tonkatsu sauce.