For cupcakes: Preheat oven to 350F and put your cupcakes liners in your muffin pan.
Whisk together the soy milk and vinegar in a bowl, giving it a few minutes to curdle before proceeding.
Add the sugar, oil, vanilla to the curdled soy milk and beat until a little frothy.
In a separate bowl, mix the flour, cocoa powder, baking powder, baking soda, and salt.
Add the dry ingredients to the wet in 2 batches, mixing until no large lumps remain.
Fill the muffin liners about 3/4 fill. I use an ice cream scoop so that they are sure to be uniform in size.
Bake 18-20 minutes or until toothpick inserted in center comes out clean. Cool for about 10 minutes in the pan, and then remove from pan and put on a cooling rack until completely cooled.
For the Mousse topping: Put the tofu, soy milk, maple syrup and vanilla in a blender; puree until completely smooth.
Melt the chocolate, either in a double boiler or carefully in a microwave. If you use a microwave, be careful so as to not burn the chocolate. Let the melted chocolate cool for about 5 minutes.
Add the chocolate to the tofu in the blender and blend until combined.
Put the mousse into a covered container and chill for at least an hour.
When the cupcakes are completely cooled, use a large decorating tip on a pastry bag, and put a mountain of mousse on each cupcake.