Mix the ingredients for the marinade in a shallow baking dish. Cut the tofu into 3 even slices and cut each of those slices into half. Add the tofu to the marinade, ensuring the tofu is fully submerged. Marinade the tofu for at least 2hrs. Reserve the marinade.
Prepare the grill for high heat. Place ALCAN® Non-Stick Ultimate Grilling Foil on grill grate with non-stick (dull) side facing up.
Add tofu pieces on top of the ALCAN® Non-Stick Ultimate Grilling Foil. Grill the tofu for 6-8mins per side, until the tofu is slightly charred and cooked all the way through.
Brush the tofu with extra marinade. Top with a sprig of rosemary, if desired, and serve with grilled vegetables.