Begin by draining the extra-firm tofu and pressing it to remove excess moisture. Wrap the tofu in a clean kitchen towel and place a heavy object on top for about 15-20 minutes.
Once the tofu is pressed, cut it into bite-sized cubes or rectangular slabs.
In a medium bowl, combine the soy sauce, rice vinegar, minced ginger, and minced garlic. Stir well to create a flavorful marinade.
Add the tofu pieces to the marinade, ensuring each piece is well-coated. Let the tofu marinate for at least 30 minutes, or up to 2 hours in the refrigerator.
In another bowl, mix the natural peanut butter with the soy sauce, rice vinegar, and a few tablespoons of water. Whisk until smooth.
Thread the marinated tofu onto the skewers. If using bamboo skewers, soak them in water for 30 minutes before grilling.
Preheat your grill or grill pan over medium heat. Place the tofu skewers on the grill and cook for about 4-5 minutes on each side.
Once grilled, remove the skewers from the heat. Drizzle with the cilantro-peanut sauce and garnish with minced cilantro, chopped peanuts, and sliced scallion greens. Serve immediately.
