Hoisin Sauce: Mix all the marinade ingredients together. Reserve half in another container for dipping.
Kebabs: Cube the drained and pressed tofu into 1" cubes and let sit in the marinade for at least an hour to overnight. (I let mine sit overnight, for the best flavor.)
Cut vegetables in large chunks. Skewer tofu and veggies on skewers. If using bamboo skewers, soak in water for 20 minutes to 3 hours first. Brush veggies with olive oil and grill with marinated tofu on grill pan or grill over medium high heat until grill marks appear, and veggies are tender. Turn over and grill the other side.