For the tofu: once the tofu is pressed, cut the block into 8 long sticks. Or for an appetizer, you can cut the sticks in half to make 16 small sticks. Add the soy sauce, water, agave, smoked paprika, and garlic powder to a sealable bag or dish and mix. Add the tofu to the mixture and let marinate covered in the fridge for a minimum of 30 minutes or up to 3 days.
For the spicy peanut sauce: mix together all the ingredients in a small bowl. This can be made ahead of time and stored in the fridge.
To grill the tofu: If using wooden skewers, soak them in water for 30 minutes before using so they don't burn. Thread the tofu onto the skewers lengthwise. Heat your BBQ or grill pan over medium-high heat. When hot, grill the skewers for 10 - 15 minutes, turning as needed until grill marks form on each side, brushing with the leftover marinade as they cook. Remove from the heat and serve hot with the spicy peanut sauce on the side for dipping. Decorate with any garnishes you like.