Tofu requires great strategy to cook correctly. There are many different levels of firmness, but unless you are making soup, I always suggest you go for the Extra Firm tofu. This is because you don't want it all broken up in your meal, but solid and ready to absorb whatever it is cooked in.
Even with the extra firmness, tofu can still be pretty soft and brittle if it is not cooked properly. For this reason, some people choose to fry their tofu. However, because that usually involves a lot of oil, I choose to grill mine. That way, I keep the texture, but still keep it clean and healthy.
For this simple meal, let's take a look at what you will need (it serves 4). Please note that you need a grill (I use an indoor electric grill). If you do not have a grill, you can try broiling this in the oven.