To press the tofu, cut the tofu lengthwise into 2 long pieces and place on top of a stack of 3 paper towels. Put another layer of 3 paper towels on top of the tofu and place something heavy on top of the tofu, I usually use my cast iron skillet with my tea kettle on top. The goal is get as much water out of the tofu as possible so you get a crispy crust. Let sit for 10 minutes, then replace the paper towels and let press for another 10 minutes or longer if you have time.
While tofu is pressing, in a medium bowl whisk together the sesame oil, soy sauce, vinegar, honey, ginger and garlic.
Preheat oven to 400° F.
When tofu is done pressing cut into stick shapes or nuggets, then place them in medium bowl or pan and pour marinade over tofu pieces making sure to coat each piece. Let stand for 10 minutes, rotate and then let stand for another 10 minutes.
Place on baking sheet in single layer and sprinkle with sesame seeds.
Bake for 20 minutes, flip over and bake for another 20 minutes.
While the tofu is cooking, make the dipping sauce. In a medium bowl whisk together the peanut butter and water until smooth. Add in the soy sauce, lime juice, brown sugar and cayenne pepper until combined.
Serve tofu sticks with dipping sauce.