Preheat your oven to 375°F (190°C).
Drain and squeeze the firm tofu to remove excess moisture. Crumble the tofu into a mixing bowl using a fork.
Add the breadcrumbs, cornstarch, dairy-free milk, finely chopped onion, minced garlic, olive oil, Worcestershire sauce, dried oregano, dried basil, salt, nutritional yeast, and black pepper to the tofu. Mix until well combined and slightly sticky.
Using your hands, scoop and roll the mixture into golf ball-sized meatballs. Place them on a baking sheet lined with parchment paper, spaced apart.
Bake the meatballs for 25-30 minutes, flipping halfway through, until golden brown and firm.
Remove from oven, let cool a few minutes, and serve with your favorite sauces.