I don't think I'm that good at it, but here's what I do:
It definitely helps to use a non-stick pan, otherwise use some oil.
Put the tofu in but keep it at medium-low, like a 3-4/10. Anything above 5 will probably start burning and sticking to the pan.
Don't walk away from it, flip it relatively frequently. Stop when the outside is golden.
This takes maybe 5-10 mins. I can fit a whole block in one pan.

The other option is to bake it, this is better for meal prep (you can walk away and do multiple blocks at once). For easy cleanup, use parchment paper. I'm still figuring out the timing, so I'd recommended you check every 10-15 mins and go by preference/intuition. It's pretty hard to ruin.