Press the tofu: Cut tofu into cubes roughly 1" in size. Lay out a clean kitchen towel and arrange the cubes on one side. Fold the other half of the towel over the cubes and weigh it down gently with a cutting board, baking tray or other flat object. Press the tofu for 10-15 minutes. This is a great time to prepare the marinade.

Make the marinade: Whisk together all ingredients for the balsamic marinade in a large dish. Add cubed tofu and toss gently to coat. (Tofu is fragile, so take care not to crumble it.)

Marinate the tofu: Cover and place in the fridge to marinate for at least 1 hour. (You can also prepare this in advance and let it marinate overnight.) If using wooden skewers, soak them in water for at least 30 minutes to keep them from burning while grilling.

Thread the skewers: Remove marinated tofu to a tray. Add chopped veggies into the bowl with the marinade and toss thoroughly. Thread tofu and vegetables onto skewers and place on tray to bring to the grill. Reserve the leftover marinade.

Prepare the grill: Preheat and prepare grill. It's helpful to lightly oil your grates with a basting brush or paper towel, since tofu has a tendency to stick.

Grill the tofu: Place the skewers on the grill and cook until grill marks are well-browned, turning once. This usually takes 8-10 minutes for me, but it will vary from grill to grill, so keep an eye on it. The tofu should take on some color but not blacken.

Remove tofu from the grill and baste with remaining marinade. Serve.