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Slice the tofu horizontally into quarters, then cut each slab into three triangles. Mix together all of the marinade ingredients and pour over the tofu. Let rest for 30 minutes to an hour.
Heat an outdoor grill or grill pan. Remove the tofu pieces from the marinade and grill on both sides until brown grill marks appear. Place the tofu on a serving plate and sprinkle with chopped cilantro and sesame seeds.
Serve with red pepper flakes on the side for extra heat.