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.

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 ½-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.

Whisk together the tapioca powder with 2 tablespoons of water until smooth, then add to the simmering liquid. Cook for another minute until the sauce thickens and becomes glossy. Remove from heat and stir in lime juice and toasted sesame oil.

Transfer the pressed tofu cubes to a bowl and pour half of the glaze over them. Let marinate for 30 minutes at room temperature, stirring gently halfway through.

Thread the marinated tofu and prepared vegetables onto the soaked skewers, alternating between tofu, pineapple, bell pepper, zucchini, and red onion.

Preheat the grill to medium-high heat and lightly oil the grates. Place skewers on hot grill and cook for 8-10 minutes total, turning every 2 minutes and brushing with reserved glaze after each rotation.

Skewers are done when tofu has golden-brown edges and vegetables are tender with light char marks.

Transfer the grilled skewers to a serving platter and let rest for 2-3 minutes before serving. Serve immediately with cooked grains like rice, quinoa, or couscous.