1. Preheat grill to medium-high heat.
2. Place first 4 ingredients in a medium saucepan over medium-high heat; bring to a boil. Cook until slightly syrupy and reduced to 1/3 cup (about 10 minutes). Remove from heat; cool. Stir in olive oil and next 4 ingredients (through garlic).
3. Place tofu and vegetables on grill rack coated with cooking spray. Brush half of juice mixture over tofu and vegetables; grill for 4 minutes. Turn tofu and vegetables over; brush with remaining juice mixture. Cook for 3 minutes or until vegetables are golden brown and tender.
4. Combine basil, parsley, and thyme. Divide vegetables and tofu equally among 4 plates. Sprinkle each serving with 1 tablespoon herb mixture.