Cut each block of tofu crosswise into 6 slices. Arrange tofu slices in a single layer in a large nonstick skillet; cook over medium-high heat 5 minutes on each side or until lightly browned. Arrange tofu slices in a single layer in a shallow dish. Combine hoisin sauce and next 6 ingredients (hoisin sauce through garlic), and stir with a whisk. Reserve 1/2 cup hoisin mixture, and pour remaining hoisin mixture over tofu, turning tofu to coat. Let stand 30 minutes.
Heat 1 1/2 teaspoons oil over medium-high heat in skillet; add half of tofu and marinade. Cook 2 minutes on each side or until browned. Repeat procedure with 1 1/2 teaspoons oil and remaining tofu.
Snap off tough ends of asparagus. Steam asparagus, covered, 5 minutes. Place 6 asparagus spears and 3/4 cup rice on each of 4 plates; arrange 3 tofu slices and 2 tablespoons reserved hoisin mixture on each plate.