Cut the tofu into cubes and pat dry with paper towels to remove excess moisture.
In a bowl, whisk together the soy sauce, lime zest, minced garlic, chili powder, and a drizzle of olive oil. Marinate the tofu cubes in this mixture for 20 minutes.
Heat the olive oil in a skillet over medium heat. Sauté the marinated tofu cubes until golden brown on all sides.
Prepare the tahini dressing: in a small bowl, combine the tahini paste, lime juice, a pinch of salt, and a pinch of black pepper. Add a few drops of water to achieve a creamy, pourable consistency.
To serve, arrange the tofu on a plate, drizzle generously with the tahini dressing, and garnish with fresh cilantro and toasted sesame seeds.
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