Dice the tofu into cubes. In a bowl, combine with grated garlic, olive oil, salt, and pepper. Marinate for 10 minutes.
Heat a skillet over medium heat. Pan-fry the tofu cubes on all sides until golden brown. Set aside to cool slightly.
In a large bowl, combine the arugula, cherry tomatoes, and sliced cucumber.
Prepare the tahini dressing: whisk together the tahini paste, lemon juice, water, salt, and pepper until smooth.
Add the pan-fried tofu to the salad, drizzle with the tahini dressing, and gently toss to combine.
Before serving, sprinkle with toasted sesame seeds. Serve immediately.
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