Drain tofu by pressing it between two plates with a heavy object on top. Let sit for at least 20 minutes.

Mix marinade ingredients in a bowl: soy sauce, maple syrup, coconut milk, sriracha, garlic powder, and ginger powder.

Cut tofu into 5–6 thick strips. Coat tofu strips in marinade and refrigerate for at least 20 minutes.

Preheat oven to 400°F (200°C). Place tofu on a baking tray and bake for 10–12 minutes. Flip and bake another 10–12 minutes until golden and crisp.

Let tofu cool slightly, then insert skewers into each piece.

To make the peanut sauce, mix together peanut butter, brown sugar, soy sauce, lime juice, rice vinegar, ginger, and warm water in a bowl. Adjust consistency by adding more water or peanut butter as needed.

Serve tofu skewers with peanut sauce on the side. Garnish with crushed peanuts, chopped cilantro, and sesame seeds.