Whisk together the gochujang, maple syrup, soy sauce, and sesame oil in a small bowl to make the sauce. Set aside.

Heat 1 tablespoon of vegetable oil in a wok or large skillet over medium heat. Add the tofu in an even layer and cook for about 10 minutes, turning occasionally, until golden and crispy on all sides. Transfer to a plate.

Add the remaining 1 tablespoon of oil to the wok and increase the heat to medium-high. Add the carrots and zucchini and stir-fry for 2-3 minutes until tender-crisp.

Push the vegetables to the side of the wok, add the minced garlic to the center, and sauté for 30 seconds, stirring constantly. Add the chopped kimchi and stir-fry for about 1 minute.

Return the crispy tofu to the wok, pour in the sauce and a splash of the reserved kimchi juice. Stir everything together and cook for 1 minute until the sauce thickens slightly. Remove from heat, top with scallions and sesame seeds, and serve over rice.