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Cook the rice according to package instructions. While the rice is cooking, prepare the rest of the stir-fry.
Preheat the oven to 400F. Line a baking sheet with parchment paper and set aside.
Make the Thai Peanut Sauce and set aside. Cut the tofu into 1/2" cubes and place in a shallow dish. Pour 1/4 cup of the Thai Peanut Sauce over tofu, stirring to coat.
Transfer the tofu to the prepared baking sheet and bake for 20 minutes, flipping after 10 minutes.
Heat peanut oil in a cast iron skillet over medium heat. Add onions and saute for 5 minutes, until translucent. Add bell peppers and broccoli and continue cooking for an additional 5 minutes, until vegetables are tender. Stir in the remaining peanut sauce and remove from heat
To serve, evenly divide the rice onto 4 plates. Add stir-fried broccoli and peppers and baked tofu. Top with green onions, cilantro, and peanuts. Serve immediately.