You should return a 401 Unauthorized Status Code. You might additionally provide hypermedia to establish the token again
Think about what happens in a web app. You go to say a banking site. If not auth'd it will send you to the log in page. Then you log in and you are good to go for a time. Then it expires and the cycle repeats.
according to the spec rfc6750 - "The OAuth 2.0 Authorization Framework: Bearer Token Usage", https://www.rfc-editor.org/rfc/rfc6750, p.8, section 3.1, resource server should return 401:
invalid_token
The access token provided is expired, revoked, malformed, or
invalid for other reasons. The resource SHOULD respond with
the HTTP 401 (Unauthorized) status code. The client MAY
request a new access token and retry the protected resource
request.