Bring vegetable broth to a boil. Pour over tvp, cover and allow to soak until absorbed, 2-3 minutes.
Stir maple syrup, liquid aminos and liquid smoke into tvp mixture.
In a separate bowl, whisk together all dry ingredients. Add wet mixture and combine. Knead for 3-5 minutes.
For small sausages, divide into 12-15 portions and roll into logs or patties. Alternatively, divide into two large logs. Wrap each portion tightly in cheesecloth or aluminum foil.
Bring an inch of water to a boil in a Dutch oven or wide pot. Arrange sausages on steamer insert, cover and steam for 30 minutes for small sausages, or 1 hour for larger logs. Add more water to the bottom of the pot as necessary.
If desired, brown sausages in a skillet with a little bit of oil before serving.