Preheat oven to 350°F (180°C) and line a baking sheet with parchment paper.
Place the tofu in a nut milk bag and press it to drain excess water, depending on the tofu you should remove ¼ cup to ⅓ cup of water. This step is essential, otherwise the balls won't hold together if the tofu is too moist. Transfer the drained tofu to a mixing bowl and set aside.
Very finely mince the shallot, garlic, and dried mushroom. If you have a food processor, pulse a few times to get a fine mixture. Make sure the shallot and mushrooms are finely minced otherwise the balls won't hold together well. Add the minced onion, garlic, and mushroom to the tofu bowl.
Next, add the seasonings: maple syrup, soy sauce, ground black pepper, salt, and saté if using. Mix well until fully combined. You should have a soft mixture.
Form 2 and ½ tablespoon balls and roll gently between your hands. The balls will be quite soft but should hold together well. Place the tofu balls on the prepared baking sheet. Bake for about 20 minutes, flipping halfway through baking (be gentle when flipping to not break them). Remove from the oven and let cool for at least 10 minutes before removing from the baking sheet.