Drain tofu, wrap in a layer of paper towels, and press for at least 15 minutes. If you're using skewers, begin soaking them. If you don't already have your grill going, get it started! While pressing the tofu, roughly chop garlic and mix it, along with the soy sauce, peanut butter, honey, sherry and peanut oil in a small food processor or blender. When it is well mixed, add the chili garlic sauce to taste. To finish, add a handful of chopped cilantro and process until well chopped but not fully liquidated. If you're mixing by hand, chop very finely. Slice tofu (about 8 slices per regularly sized block) or cube it. Place it in a plastic bag with the marinade for at least half an hour. If you're using skewers, chop up your vegetables to skewer size. Remove tofu from marinade and place on a medium hot grill (no shooting flames). Assemble kebabs at this point alternating tofu and vegetables. Cooking time will vary depending on your grill but try for good grill marks on both sides. Use caution when moving the tofu around on the grill because it has the tendency to stick. Plate still warm tofu and top with leftover marinade.