Step 1

Marinate the tofu. Drain tofu and press for 25-30 minutes (detailed tofu pressing instructions here). Cut into six 1/2-inch slices. Place the tofu slices into a small baking dish or zipper bag. In a small bowl, whisk together 2 tablespoons of sesame oil, tamari or soy sauce, brown sugar, garlic, and ginger. Pour the marinade over the tofu and turn tofu to help ensure the marinade has coated all sides. Place in refrigerator and marinate for 1-2 hours, turning occasionally.

Step 2

When you're ready to start grilling, brush the zucchini with 1 tablespoon sesame oil and sprinkle lightly with salt and pepper.

Step 3

Preheat grill to medium-high, about 400ºF. Oil the grates with a high smoke-point oil such as canola or grapeseed oil (or use non-stick cooking spray). Lay the tofu, pineapple, and zucchini on the grill and close the lid. Beware: the marinade on the tofu may cause it to flame up at first! Cook the pineapple and zucchini until they show golden-brown grill lines (about 5 minutes). Turn over and cook until lines appear on the other side (2-3 more minutes). Transfer to a large platter to cool. Flip the tofu when it starts to show grill lines (after 8-9 minutes). Cook on the other side until heated through and showing lines (3-4 more minutes). Transfer tofu to the platter. Let pineapple, zucchini, and tofu sit until they're cool to the touch and then cut them all into 1/2-inch size squares. Return to the platter and toss gently to combine.

Step 4

Make the dressing. Add all of the dressing ingredients to the pitcher of a blender. Blend until completely pureed and creamy.

Step 5

To serve, scoop tofu mixture into lettuce leaf cups and drizzle with a little sauce. Fold sides of leaves over the top and eat.