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Preheat oven to 350 degrees F.
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Lightly spray a 9x13-inch baking pan and a baking tray with nonstick spray.
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Mix together dry ingredients, crumbling in the brown sugar last to break up any clumps.
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Stir together yogurt, tofu, oil and vanilla in another bowl until well combined.
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Add the wet mixture to the dry, and mix patiently until thoroughly blended.
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Transfer mixture to the pan, patting it evenly into place.
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Bake in the oven for 15 minutes, then remove from the oven and cut into bars.
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Place the bars on the baking tray, and bake for another 15 minutes, or until golden around the edges.
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Remove the bars from the oven and place on a cooling rack.
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Eat bars within a few hours, or seal them in a heavy zip-top bag and freeze.
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For maximum freshness, put in toaster oven after defrosting.