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Pat tofu dry with paper towels. Cut tofu into 1-inch cubes. Place tofu in a resealable plastic bag set in a shallow dish. In a small bowl combine the pepper sauce and chipotle pepper. Pour over tofu. Seal bag; turn to coat. Marinate in the refrigerator for 1 hour, turning bag occasionally.
Drain tofu, reserving marinade. Alternately thread tofu cubes, sweet peppers and zucchini slices onto four to six 10- to 12-inch skewers. Brush tofu and vegetables with any reserved marinade and lightly coat with cooking spray.
For a charcoal grill, place kabobs on the grill rack directly over medium coals. Grill, uncovered, for 10 to 12 minutes or until vegetables are crisp tender, turning once. (For a gas grill, preheat grill. Reduce heat to medium. Place kabobs on grill rack over heat. Cover and grill as above.)
Meanwhile, trim bok choy and separate leaves; set aside. In a small bowl whisk together soy sauce, peanut butter, vinegar, honey, sesame oil and crushed red pepper (if using). Coat an unheated 12-inch nonstick skillet with cooking spray. Heat over medium-high heat. Add bok choy; cook and stir about 5 minutes or until it begins to soften. Stir in the soy sauce mixture. Cook and stir for 5 minutes more or until leaves are wilted and stalks are crisp tender. Serve skewers over bok choy.