A supplement to above two wonderful answers:

Notice that any two of the branches of curve $C$ defined by $f(t)=\tan(t)-t$ are identical with only a translation of $\boldsymbol{\mathrm{v}}_n=(n \pi,-n \pi)^{\mathrm T}$ :

$$ \left( \begin{array}{c} t \\ \tan(t)-t \\ \end{array} \right)+ \left( \begin{array}{c} 1 \\ -1 \\ \end{array} \right)n\pi = \left( \begin{array}{c} t+n\pi \\ \tan(t+n\pi)-(t+n\pi) \\ \end{array} \right) $$

graph1 = Plot[Tan[t] - t, {t, -3 Pi, 3 Pi}, PlotRange -> {-4, 12}, AspectRatio -> Automatic, MaxRecursion -> Infinity, PlotStyle -> Lighter[Blue], Exclusions -> {1/(Tan[t] - t) == 0}, ExclusionsStyle -> Directive[Gray, Dashed] ] // Quiet; graph2 = Plot[Tan[t] - t, {t, -Pi/2, Pi/2}, PlotRange -> {-4, 12}, MaxRecursion -> Infinity, PlotStyle -> Directive[Blue, Thick] ] // Quiet; Manipulate[ solset = t /. FindRoot[Tan[t] - t == F, {t, #}] & /@ (.9 \[Pi] Range[-2, 2] + .3); Show[{graph1, graph2}, Frame -> True, FrameStyle -> Directive[Opacity[0]], FrameTicks -> { {Range[-4, 12], Range[-4, 12]}, {Range[-5, 5, 2] Pi/2, Range[-5, 5, 2] Pi/2}}, FrameTicksStyle -> Directive[Opacity[1], Black, Bold, 20], Axes -> None, GridLines -> {None, F + Pi Range[-2, 2]}, GridLinesStyle -> Directive[Lighter[Brown], Dashed], Epilog -> { Brown, Thickness[.005], Line[{{-3 Pi, F}, {3 Pi, F}}], Darker[Green, .3], MapIndexed[ Disk[{#1, F} - (#2[[1]] - 3) Pi {1, -1}, .2] &, solset], Red, Disk[{#, F}, .2] & /@ solset, Lighter[Purple], Thick, Arrowheads[.03], MapIndexed[ Arrow[{{#1, F} - (#2[[1]] - 3) Pi {1, -1}, {#1, F}}] &, solset] }, ImageSize -> 600], {{F, 4}, -2, 10}] 

So for any $F$, to get all solutions of $\tan(t)-t=F$ (the red points in above graphics), just find all intersection points of the center branch of $C$ and horizon lines $l_n(t)=F+n \pi$, where $n\in\mathbb{Z}$ (the green points in above graphics), then translate them with proper vectors.

To find those green points, you can adopt Jens' InverseFunction method, or Alexei's approximate analytical solution, or it is also possible to derive an approximate formal series by functions such as InverseSeries:

seriesZero = InverseSeries[Series[Tan[t] - t, {t, 0, 9}], F] 

seriesInfinity = InverseSeries[Series[Tan[t] - t, {t, Pi/2, 9}], F] 

Plot[Evaluate[{ Normal@seriesZero, Normal@seriesInfinity, InverseFunction[Function[t, Tan[t] - t]][F] }], {F, 0, 8}, PlotRange -> {0, Pi/2}, PlotStyle -> (ColorData["Rainbow"] /@ {0, .5, 1}), Frame -> True, FrameLabel -> (Style[#, Italic, 20, Bold] & /@ {"F", "t"})]