Add canola oil to a deep non-stick skillet over medium-high heat. Do not stir, but allow tofu to cook on each side for 3-5 minutes or until golden brown. (Turn each piece of tofu over with a fork individually to brown all sides.) Transfer to a plate and set aside. 

Add the vegetables to the same pan with the leftover oil from the tofu. Sauté for 2 minutes. Cover with lid and cook another 8-10 minutes or until vegetables are crisp tender. Stir tofu into cooked vegetables to reheat. 

While the vegetables cook, add all of the peanut sauce ingredients to a food processor and puree until smooth. Pour sauce over the cooked vegetables and tofu or add once plated. 

To serve, add rice to serving dishes and top with vegetables, tofu, and peanut sauce. Garnish with fresh cilantro, sesame seeds, and chopped green onion, if desired.