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Combine the sauce ingredients in a medium mixing bowl. Add the cubed tempeh. Stir to coat and let sit for 15-20 minutes.
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Heat a wok, a heavy-duty non-stick pan or a cast iron skillet over medium-high heat. Add the oil and heat until you see small wisps of smoke rise from the oil.
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Add the onions and 1 tablespoon minced garlic to the wok, and stir-fry for 1-2 minutes. Use a slotted spoon to transfer the tempeh to the pan, leaving the sauce behind.
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Stir-fry the tempeh for 3-4 minutes, then add the Brussels sprouts. Continue stir-frying until sprouts are bright green and tender crisp. Add the reserved sauce to the pan and stir well to coat. Continue stir-frying to allow sauce to thicken and caramelize slightly.
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Remove from heat and serve on top of hot, cooked rice. Garnish with green onions and toasted sesame seeds.