Add the tofu to the pan and cook for 5 minutes, stirring occasionally, until lightly browned.
In a small bowl, whisk together the honey, rice vinegar, soy sauce, and black pepper until combined.
Pour the mixture over the tofu in the skillet and reduce heat to low. Simmer for 10 minutes, stirring occasionally, until most of the liquid has been absorbed by the tofu.
Serve warm with your favorite sides or as part of a stir fry!