Cut the tofu into cubes or slices. Wrap in paper towels and gently press to remove excess moisture.
In a bowl, whisk together the soy sauce, grated ginger, minced garlic, honey (or agave syrup), lime juice, and a pinch of salt. Place the tofu in the marinade and let it sit for 20 minutes.
Heat 1 tablespoon of olive oil in a skillet over medium heat. Cook the tofu for 4-5 minutes per side, or until golden brown and slightly crisp.
To make the glaze, pour the remaining marinade into a small saucepan and simmer for 1-2 minutes, or until slightly thickened.
To serve, drizzle the glaze over the grilled tofu, sprinkle with toasted sesame seeds and fresh cilantro. Enjoy on its own or serve with rice.
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