1. Preparation
Press the tofu: Wrap the block of firm tofu in a clean kitchen towel and place a heavy object on top to drain excess moisture for about 15 minutes.
Cut the tofu: After pressing, cut the tofu into 1-inch cubes.
Make the marinade: In a bowl, mix together soy sauce, lime juice, brown sugar, garlic, and ginger until the sugar is dissolved.
Marinate the tofu: Add the cubed tofu to the marinade and let it sit for at least 15 minutes to absorb the flavors.
Prepare the peanut sauce: In a separate bowl, whisk together peanut butter, coconut milk, lime juice, soy sauce, and a pinch of cayenne pepper until smooth.
2. Cooking
Preheat your grill or grill pan over medium heat.
Thread the marinated tofu cubes onto skewers, leaving a little space between each cube for even cooking.
Once the grill is hot, place the skewers on it and grill for about 10-12 minutes, turning them occasionally until they are golden brown and slightly charred.
While the tofu is grilling, you can warm up the peanut sauce in a small saucepan over low heat, stirring often.
Once the tofu is done, remove it from the grill and let it cool slightly before serving.
3. Serving
Serve the grilled tofu skewers on a platter alongside the warmed peanut sauce for dipping.
Garnish with chopped fresh cilantro and lime wedges for an extra burst of flavor.