Marinate tofu: mix soy, rice vinegar, oil, and paprika. Toss tofu and rest 15 minutes.

Preheat grill to medium (about 375°F). Oil grates.

Thread tofu onto skewers, leaving a little space between pieces.

Grill 3–4 minutes per side, turning once, until marked and heated through.

Make sauce while grilling: whisk 3 tbsp peanut butter, 1 tbsp sesame oil, 1 tbsp soy sauce, 1 tsp honey, and water to thin.

Brush skewers with sauce once off the heat and serve.