To a mixing bowl, add the flour, soy milk, salt, pepper, garlic powder, and onion powder and mix using a whisk. To another mixing bowl, add the breadcrumbs.
Tear your thawed tofu into smaller pieces (you'll need about 2 pieces per taco, which corresponds to 24 pieces per 18oz/500g block of tofu.)
Add all the tofu pieces to the mixing bowl with the batter and, using a spatula, gently mix until each piece is coated. Then, using kitchen tongs, dip each tofu piece in the breadcrumbs, making sure they're fully coated.
Place the tofu pieces on the lined baking tray, then bake in the oven on the middle rack for 25 minutes, flipping halfway through.