Preheat oven to 400 degrees and line a baking sheet with parchment or a silicone mat.
Press the tofu (if using sprouted, super-firm tofu that contains very little water, you can skip this step; just pat it dry before dipping/coating): Cut the tofu and place on a lint-free dish towel or paper towels. Arrange so that the tofu is surrounded on both sides by towel(s). Place a heavy skillet or weighted baking sheet on top of the tofu. Let sit 15 minutes.
Mix the mustard, maple syrup, soy sauce, and pepper in a bowl. Coat each slice of pressed tofu in sauce, draining the excess, then coat in nutritional yeast, if using. Place in a single layer on the prepared pan. Bake for 20 minutes, flip the tofu, and bake another 10 to 15 minutes or until lightly browned.
Make the millet pilaf:
Heat a deep saute pan or soup pot over medium heat. Add the oil, if using, and onion. Stirring occasionally, cook the onion 4 to 5 minutes or until it is just becoming translucent. Add the garlic and cook for 2 more minutes.
Add the rinsed and drained millet to the pan. Stirring frequently, cook just long enough to "dry out" the millet and toast it slightly. This should take 2 to 4 minutes, depending on how well the millet was drained after rinsing.
Add the water, salt, and carrot to the pot and bring to a boil. Stir once, cover, and reduce heat to low. Cook 20 to 25 minutes or until the water has been absorbed. Uncover and let stand 5 minutes. Fluff with a fork.
Saute the greens:
Preheat a sauté pan over medium heat. Add the collard greens and a pinch of salt. Cook 2 to 3 minutes, or until dark green and wilted. Sprinkle with smoked paprika and remove from heat.
Serve immediately or store each component separately for meal prep.