Preheat the oven to 425°F and line a baking sheet with parchment paper. Wrap your tofu in paper towel, or a clean dishcloth and place a heavy can on top, leave it like this for 10 minutes to draw out extra moisture
Meanwhile, set up your dredging station. Grab 3 shallow bowls, in the first combine coconut, sesame seeds and panko, in the second add soy milk and in the third corn starch, season each with salt and gently mix.
When the tofu is dry, cut the block in half lengthwise, then several times in the opposite direction to create strips. Dip each first in corn starch, then in soy milk (shaking off excess as you go), and finally in the coconut mixture, taking time to press on the breadcrumb mixture so it gets a thick, even coating.
Place the strips on the lined baking sheet and drizzle generously with a neutral oil. Transfer to the preheated oven and bake for 30 minutes, flipping half way.
While the tofu bakes, make the peanut sauce! In a medium bowl, add 1/2 cup peanut butter, 1/2 cup soy sauce, 1 tbsp sambal, 1 tsp sesame oil, 2 tbsp maple syrup and 1 tbsp rice vinegar. Whisk until smooth. Serve the tofu on a bed of jasmine rice with steamed broccoli with a drizzle of the peanut sauce, topped with cilantro, peanuts and a squeeze of lime.