Meanwhile, whisk the yogurt, garlic, onion, thyme, and a few shakes of paprika in a bowl. Add the milk, in tbsp., until it is creamy and falls through a fork easily, but is still thick enough to stick to the sides of the bowl. Add a few drops of agave until the yogurt is no longer tart, but not sweet. Add salt and pepper, to taste.
Put the breadcrumbs in a second bowl. Once the tempeh is cool enough to handle (pat dry if you used broth), dredge in the yogurt and press into the breadcrumbs, until coated.
Place the tempeh nuggets on the prepared baking sheet and repeat with all nuggets. Spritz tops with nonstick spray. Sprinkle with a pinch of salt, if desired.
Bake for 13 minutes, flip, and cook an additional 7 (total of 20 minutes).
Serve while hot and crunchy with your favorite dipping sauces. Store leftovers in the fridge and reheat in the oven or a toaster oven.
Notes
Cooking time includes quick cooking of tempeh before baking. For vegan nuggets, use vegan yogurt and opt for agave over honey. For gluten free, buy certified gluten free panko breadcrumbs.