2 cloves garlic, minced
2 teaspoons sesame oil
2 tablespoons mirin or other sweet white wine 
2 tablespoons soy sauce 
¼ cup minced parsley
¼ teaspoon red pepper flakes
½ cup peanut butter 
½ cup hot water
16 ounces extra-firm tofu, cut into 16 1-ounce chunks
16 cherry tomatoes
about 2 large red bell peppers, cut into 1" chunks
1 medium zucchini, cut into 16 1" chunks
1-pound onion, quartered and cut into chunks
8 medium mushrooms, white or crimini, cleaned (Other vegetables may be substituted as desired. Make sure to consider cooking times when choosing vegetables. For example, if using carrots, they must be par-cooked before skewering.)
8 skewers about 6-8 inches long (If using bamboo skewers, soak them in water for 20-30 minutes.)

Coat the bottom of a medium saucepan with spray vegetable oi, and lightly cook the garlic; do not brown. Mix in the sesame oil, wine and soy sauce, then add the parsley and red pepper flakes. Use a whisk to blend in the peanut butter to create a paste. Thin the paste with hot water to create a marinade, and add the tofu cubes. Cover the cubes and set aside off the heat for 10 minutes. 

Thread the tofu and vegetables onto the skewers. Use a red pepper cube first, and push it back onto the skewer, making sure to leave room at the end to hold the skewer. Follow with an onion cube, a zucchini cube, a cherry tomato, and a tofu square. Repeat once so that there are two of everything on each skewer. Finish each with a mushroom cap.

Put the skewers in a shallow pan that holds them all comfortably, and brush them with peanut sauce. 

Start a fire in your grill. When the coals are nice and hot, grill the skewers for 7-10 minutes, turning several times and brushing liberally with the peanut sauce. Drizzle any additional sauce over the skewers just before serving.

These skewers go well with rice or noodles or on a garden salad.