Blot the tofu with a kitchen towel to absorb as much water as possible, then cut into 1/2 inch cubes.
Heat 1 T of the olive oil in a skillet on medium heat. Add the tofu. Stir every 5 minutes or so. Cook till tofu is nicely browned.
While tofu is cooking, in another skillet or wok, heat the rest of the olive oil and add the chopped onion and cook till it softens.
Add garlic and cook another minute.
Add the vegetables and cook till tender. Don't overcook. If you have some vegetables that may take longer such as carrots, put them in first and then add the faster cooking vegetables later.
Stir in the brown rice and cook till heated.
Mix all the sauce ingredients in a jar and shake well.
When the tofu is done (nicely browned), stir or shake the sauce ingredients once again and then add to the tofu in the skillet. Stir well and cook until the sauce bubbles and thickens. Won't take long.
Combine the tofu with the vegetables and stir well.
Put into serving bowls and sprinkle with the peanuts.