Drain tofu. Wrap in a clean tea towel and weigh it down with a cutting board or other flat object. Allow to drain for 30 minutes, then cut into cubes (about 1").
Preheat oven to 350°F.
Combine all ingredients for the peanut sauce in a mixing bowl. Toss tofu cubes in sauce to coat.
Transfer tofu to a baking tray lined with parchment or a silicone baking mat. (Save the extra sauce left in the bowl.) Bake for 30-35 minutes until deep golden brown, rotating tray halfway through baking time.
Optional: Combine the remaining sauce with 2 to 4 tablespoons of water in a small saucepan. Bring to a boil over medium heat, then reduce heat and simmer until thickened. (We take this step to mellow out the flavor of raw garlic in the sauce.)
Serve tofu with rice and steamed vegetables. Drizzle with extra peanut sauce if desired, or save the sauce for spring rolls or another dish.