30 minutes before making, remove tofu from the package. Place a towel on a plate, add the tofu, and weight down with another plate. Let sit for 30 minutes. Cut the tofu into ¼” thick slices and cut each slice in half.
While the tofu is pressing, combine ingredients for the peanut sauce in the blender. Puree with the water until smooth.
Preheat oven to 425˚F. For the tofu, slide a skewer into each piece of tofu. Brush with the peanut sauce on both large sides and place on a sheet tray covered with parchment paper. Repeat with remaining pieces of tofu. Place the tray in the oven and bake for 15 minutes. Flip the tofu over and cook for another 10 to 15 minutes. The tofu should be golden and slightly crisp on the outside.
While the tofu is baking, add the cilantro to the peanut butter sauce and stir. Add a bit more water if needed to thin out the sauce. The sauce should be a good dipping consistency (think a thicker dressing).
When the skewers are done, place on a platter along with the cilantro peanut sauce. Top the skewers with extra cilantro, crushed peanuts, and sliced scallion greens.