Combine all the spicy peanut sauce ingredients in a medium bowl and mix. Set aside.
Cut your pressed tofu into 1 inch by 1 inch cubes.
Mix the tofu marinade ingredients in a medium bowl and whisk. Toss or brush the marinade onto your tofu cubes. Save the leftover marinade to spoon onto your tofu as you cook it.
Skewer your tofu leaving a little space between each piece.
Preheat your pan or grill pan to medium heat. Once warm, add the oil and tofu skewers to the pan and cook for 5 minutes. Brush additional marinade on top of the skewers, flip, and cook for 5 minutes or until the outside of the tofu is slightly crispy.
Remove skewers from the heat. Serve with the spicy peanut sauce, sesame seeds, fresh chopped cilantro, and rice.