Cut the tofu into 1-inch cubes and wrap them in a clean kitchen towel or cheesecloth. Place on a plate and weigh down with another plate or cast iron skillet for 15 minutes to remove excess moisture—this helps the tofu absorb the marinade and develop better texture on the grill. While the tofu presses, soak wooden skewers in water for at least 15 minutes to prevent burning. Mince the garlic, grate the ginger, and prepare all vegetables by cutting the pineapple and bell pepper into 1-inch pieces, slicing the zucchini into 1/2-inch rounds, and cutting the red onion into 1-inch wedges.

In a saucepan, combine the pineapple juice, coconut aminos, minced garlic, grated ginger, and maple syrup. Bring to a boil over medium-high heat, then reduce heat and simmer for 1 minute to meld the flavors. In a small bowl, whisk together the tapioca powder with 2 tablespoons of water until smooth, creating a slurry. Slowly pour the slurry into the simmering liquid while whisking constantly to avoid lumps, then cook for another minute until the sauce thickens and becomes glossy. Remove from heat and stir in the lime juice and toasted sesame oil. I like to taste the glaze at this point and adjust the seasoning—a pinch more salt or lime juice can really brighten the flavors.

Transfer the pressed tofu cubes to a bowl and pour half of the glaze from Step 2 over them, reserving the remaining glaze for brushing on the skewers during grilling. Gently toss the tofu to coat evenly, being careful not to break the cubes. Let marinate for 30 minutes at room temperature, stirring gently halfway through to ensure even coating. This allows the tofu to absorb the flavors and develop better browning on the grill.

Thread the marinated tofu and prepared vegetables onto the soaked skewers, alternating between tofu, pineapple, bell pepper, zucchini, and red onion to create colorful, evenly balanced skewers. Leave a small gap between pieces to allow heat to circulate and promote even cooking and browning. I find that starting and ending with tofu or pineapple helps hold the vegetables in place as you rotate the skewers on the grill.

Preheat the grill to medium-high heat and lightly oil the grates to prevent sticking. Place the assembled skewers on the hot grill and cook for 8-10 minutes total, turning every 2 minutes and brushing generously with the reserved glaze from Step 2 after each rotation. This frequent turning ensures all sides caramelize evenly and develop a nice crust while the vegetables soften and the tofu absorbs the smoky grill flavor. The skewers are done when the tofu has golden-brown edges and the vegetables are tender with light char marks.

Transfer the grilled skewers to a serving platter and let rest for 2-3 minutes before serving. This brief rest allows the exterior to set slightly and keeps the tofu tender inside. Serve immediately with your choice of cooked grains such as rice, quinoa, or couscous to soak up any remaining glaze.