Chop asparagus into 1-inch pieces, chop onion, and finely chop garlic; set aside.

Place tofu, garlic, basil, and salt in a blender or food processor; cover and blend until smooth. Set aside.

Heat a large nonstick skillet over medium-high heat. Add oil, asparagus, and mushrooms, and cook, stirring occasionally, for 7 to 10 minutes, until mushrooms are browned and asparagus is tender-crisp. Remove from pan; set aside.

Lightly coat same pan with cooking spray and place over medium-high heat. Add onion and cauliflower; cook, stirring occasionally for 5 to 8 minutes, or until soft.

Reduce heat to low. Add tofu mixture; stir to combine. Cook 1 to 2 minutes more, stirring frequently, until warmed through.

Serve mushrooms and asparagus on top of cauliflower mixture. Serve immediately, or store refrigerated in an airtight container for up to five days.