Press the block of extra-firm tofu for at least 10 minutes to remove excess moisture; this ensures it properly absorbs the marinade and sears rather than steams.

Whisk together the coconut milk, garlic, ginger, curry powder, maple syrup, and soy sauce in a large container until the marinade is well blended.

Cut the tofu into 1.5-inch cubes and toss them in the marinade until well coated, then refrigerate for at least 2 hours or overnight for the deepest flavor.

Soak the bamboo skewers in warm water for at least 30 minutes to prevent them from burning during cooking.

Combine the peanut butter, warm water, coconut sugar, rice vinegar, garlic, sesame oil, sriracha, and soy sauce in a small bowl, whisking until the texture is smooth and emulsified.

Thread the marinated tofu cubes onto the soaked skewers, fitting about five or six pieces per stick without crowding them.

Heat a grill pan over medium heat and brush generously with neutral oil until it shimmers. Arrange the skewers in the pan and cook for about 15 minutes total, turning every 4 to 5 minutes to achieve a light char on all sides. Pour any leftover marinade over the tofu during the last few minutes of cooking so it reduces into a thick glaze.

Serve the tofu satay sticks hot with the peanut sauce and top with chopped peanuts, cilantro, and a squeeze of fresh lime.