Preheat oven to 400°F.
Spray a muffin pan with cooking spray, and cook lasagna noodles as directed on package.
Spoon 1 teaspoon marinara into each cup of a muffin pan; set aside.
Place tofu inside 6-8 paper towels and squeeze out excess liquid.
In a small bowl, mix together the tofu, ricotta cheese, Parmesan, and pepper.
Lay out noodles and spread an even amount of cheese mixture onto each. Spoon on some marinara sauce, then top with spinach and basil.
Roll up each lasagna noodle tightly and place one into each muffin cup. Top with remaining marinara and sprinkle with shredded mozzarella cheese.
Bake for 10-15 minutes or until heated through and cheese has melted.
Serve with grapes on the side.