In a large nonstick skillet coated with cooking spray, saute mushrooms and onion in oil until tender. Add spinach and garlic; cook 2 minutes longer. Stir in the tomatoes, tomato sauce, tomato paste, basil and marjoram. Bring to a boil. Reduce heat; cover and simmer for 15 minutes, stirring occasionally.
Meanwhile, cook lasagna noodles according to package directions; drain.
In a small bowl, combine the tofu, eggs, parsley, salt and pepper. Place three noodles in the bottom of a 13x9-in. baking dish coated with cooking spray. Layer with half of the tofu mixture, 1-1/2 cups spinach mixture, 1/2 cup mozzarella-flavored soy cheese and 1/3 cup cheddar-flavored soy cheese. Repeat layers. Top with remaining noodles and spinach mixture; sprinkle with remaining cheeses.
Cover and bake at 375° for 35-40 minutes or until heated through. Let stand for 10 minutes before cutting.