Press tofu for 10 minutes and cut into cubes.
Heat vegetable oil in a wok over medium-high heat.
Add tofu and stir-fry until golden on all sides, about 6 minutes.
Remove tofu and set aside.
In the same wok, add sesame oil, garlic, and ginger; cook for 30 seconds.
Toss in vegetables and stir-fry for 3–4 minutes.
In a bowl, whisk peanut butter, soy sauce, vinegar, syrup, chili sauce, and warm water until smooth.
Pour sauce into wok and stir until thickened slightly.
Add tofu back in and toss to coat evenly.
Garnish with crushed peanuts and serve over rice or noodles.