Use firm or extra-firm tofu. Press for at least 15 minutes by sandwiching between kitchen towels or paper towels with a heavy pan on top. Skipping this causes sticking and poor browning. Slice into planks half an inch to three-quarters of an inch thick, or cube for skewers. If marinating, do it after pressing. Pat dry again just before grilling.

Preheat your grill fully before you start — a hot grill prevents sticking and gives clean marks. Lightly oil the grates just before placing the tofu. Lay planks directly on the grates with a little space between pieces. Grill over medium to medium-high heat. Cook the first side for 4 to 6 minutes without moving or lifting the pieces. Tofu will release naturally once a proper sear has formed. Flip when you see golden-brown grill marks and the piece lifts cleanly. Cook the second side for another 4 to 6 minutes, for a total of 8 to 12 minutes. Extra-firm tofu cut thick may need up to 10 minutes per side, bringing total time to around 20 minutes. Use color as your main doneness cue — golden to dark brown grill marks, not black. For skewers, thread tofu cubes and grill over medium heat, turning occasionally, for about 10 minutes total. If you used a marinade, set some aside before grilling to use for basting or serving.

Tofu is done when the exterior is well browned with golden to dark brown grill marks. Stop before marks turn black. The surface should feel firm and slightly crisp, and the tofu should hold its shape cleanly when lifted with tongs. Transfer to a plate immediately and serve right away — no resting needed. Avoid these mistakes: skipping the pressing step, moving tofu too soon, cutting pieces too thin, and using silken or soft tofu. Firm or extra-firm only.