Combine all of the ingredients except for the tofu in a shallow dish that has a fitted lid.
Pat the tofu dry, then break it into 1-inch pieces. Add the pieces to the marinade dish.
Marinate the tofu for 20 minutes or up to 2 hours. Gently shake and flip the dish occasionally to spread the sauce throughout.
If wooden, soak the skewers in water for 10 minutes. Heat the grill pan, skillet, or grill to medium-high. Brush the grill or pan with olive oil.
Slide the tofu pieces onto the skewers. Cook them for 10-15 minutes. Rotate the skewers every 4-5 minutes.
Brush them with the remaining marinade sauce. Enjoy them on their own, with rice and a Greek salad, within a mezze plater, or as a pita wrap with tzatziki.