If baking, preheat the oven to 390°F (199°C). Line a baking sheet with parchment or lightly oil a baking sheet if not using parchment.
Drain the 4 oz firm tofu and squeeze out as much liquid as you can (use your hands, a towel, or a tofu press) so it is as dry as possible.
Crumble the drained tofu into small pieces using a food processor (pulse) or by breaking it up with your hands; transfer to a large mixing bowl.
Finely chop the ½ onion and 2 cloves garlic.
Heat a skillet over medium heat and add 1 Tbsp olive oil. Add the chopped onion and garlic and cook on medium-low to medium until softened and translucent (about 4–6 minutes); do not brown. Remove from heat.
Transfer the cooked onion and garlic to a bowl and add 1 Tbsp olive oil. Let cool slightly, then blend with a hand blender or finely mash/very finely chop until a smooth paste forms.
To the bowl with crumbled tofu add ½ cup breadcrumbs, 2 Tbsp cornstarch, ¼ cup dairy-free milk, the onion‑garlic paste, 2 tsp Worcestershire sauce, 1 tsp dried oregano, 1 tsp dried basil, 1 tsp salt, 1 Tbsp nutritional yeast, and 1/8 tsp black pepper. If you plan to bake, add the remaining 1 Tbsp olive oil to the mixture now. If you plan to pan-fry, reserve that 1 Tbsp olive oil for frying instead of adding it to the mixture.
Mix everything thoroughly with a spatula or your hands until the mixture holds together when pressed.
Form the mixture into small balls about 1 Tbsp each and place them on the prepared baking sheet or a plate.
Baking method: bake the meatballs at 390°F (199°C) for 15–20 minutes, turning once halfway through, until they are set and lightly browned.
Pan-fry method: heat the reserved 1 Tbsp olive oil in a skillet over medium heat. Add the meatballs in a single layer (do not crowd) and fry 2–3 minutes per side, turning until browned and heated through.
Serve the tofu meatballs with one of the listed sauces (Healthy Vegan Marinara Sauce, Caramelized Carrot Sauce, Vegan Mac and Cheese Sauce, or Vegan Cashew Alfredo Sauce).