The trick is to always steam it before cooking! I grew up in Asia eating tempeh, and usually we'd marinate it for a few hours/overnight in a very punchy sauce before sauteeing or frying because it's quite plain otherwise. I like to make a good satay-style dressing with natural peanut butter, soy sauce, lime juice, rice vinegar, and a bit of maple syrup, then marinate the tempeh in it or just drizzle it over fried tempeh and rice.
Edited to add: Lisa's got some great tempeh marinades here:
https://okonomikitchen.com/5-easy-marinades-for-tempeh/