Press the tofu using weights or a TofuXpress for at least 30 minutes. If using the TofuXpress, slice off two slices and set them vertically in the press next to the block of tofu. Here is a photo. This will keep you from putting too much pressure on the mechanism (trust me on this). Drain off the excess water. Slice the block of tofu into 10 even slices (including the first 2), then cut each slice in half lengthwise so you have 20 long thin pieces. (In the photo, I did not do the lengthwise slices.)
Whisk together all the other ingredients in a bowl. Marinate the tofu for several hours or overnight.
Soak the bamboo skewers for 30 minutes before grilling to prevent them from catching on fire. Heat your grill, grill pan, or broiler. Carefully thread the tofu onto the skewers. Spray the grill pan or broiler pan lightly with cooking spray, then grill the tofu for 3 minutes per side.