Put the tofu on a plate lined with paper towels and put more paper towels on top of the tofu, then put a heavy pan on top and let it sit for 20 minutes until the water is pressed out of it. Once the water is pressed out of the tofu, slice it in half lengthwise and then cut into 8 rectangular pieces

Whisk the peanut butter, sriracha, lime juice, water, and salt together in a medium bowl. Brush a layer of the glaze on one side of the eight sticks of tofu.

Heat the oil (you need it to prevent the tofu from sticking) on medium heat in an iron skillet. When the oil is hot put the glazed sides of the tofu sticks down in the pan and brush the glaze on the tops of the tofu. Cook for 2 minutes and flip on to their sides, brush the top sides with glaze and cook for 1 minute, repeat on the other sides, and then again on the bottoms of the tofu. All four sides of the tofu sticks should be nicely seared. Insert a pick into the ends of the tofu steaks and drizzle with the remaining glaze. Sprinkle with fresh cilantro and crushed peanuts.