Press tofu between plates weighted with something heavy. Set aside while preparing veggies.
Wash and trim Brussels sprouts. Steam them for 3 minutes, and set aside.
Prepare the Teriyaki sauce by mixing all ingredients together. Reserve half the sauce as marinade for the table, to drizzle over the skewers before serving. See note*
Wash all remaining vegetables, and put in a plastic Ziploc bag.
Add the Brussels sprouts and marinade. Seal the bag.
Gently rotate the bag to coat the vegetables with the marinade.
Allow to marinate for 1 hour, turning the bag a few times to coat the veggies.
At the end of 40 minutes, preheat oven to 400° F. Cut the tofu into cubes, and add it to the bag. Gently rotate the bag a few times to coat the tofu.
After an hour, spear the vegetables and tofu in an alternating pattern on the four skewers.
Bake the skewers for 30-40 minutes. Turn and baste with sauce at the bottom of the pan every 20 minutes.
While baking, toast the sesame seeds in an ungreased skillet over medium heat until lightly browned, stirring constantly.
Spread toasted sesame seeds on a heat-proof plate. Roll vegetable skewer, hot from the oven, in the seeds. Serve at once with rice, couscous, or your choice of grains.
You can roast the veggies in a pan instead of on skewers. Take a large baking dish or parchment-covered baking sheet. Try to space the vegetables so that they do not touch. Bake at the same temperature for the same time.
Hoisin sauce is available in many grocery and Asian specialty stores. Gluten-free Hoisin sauce can be found online.
If you would like to have marinade to serve at the table, cook the other half in a small saucepan until slightly thickened and serve with your meal.
To make this oil-free, omit the oil. It is equally delicious oil-free.