Preheat the grill.In a glass measuring cup, combine the peanut butter, hoisin, tamari, rice vinegar, mirin and gochujang, and whisk until well mixed. Use a mandoline to slice the zucchini in very thin slices, about as thick as a quarter.Bring a small pot of water to a boil. Trim the brussels sprouts, then use your paring knife to cut a "starter hole" in the base of each. Drop in boiling water and blanch for 1 minute, then drain.Cube the tofu and sprinkle with tamari and toasted sesame oil, toss to coat.
Brush the zucchini slices with oil, then tread on the skewers as shown in the video, weaving the slice back and forth. Top each skewer with a cherry tomato to hold the zucchini in place.
Alternate tofu and brussels sprouts on skewers.
Scrape hot grill, then use tongs to dip wadded paper towel in avocado oil and swab the hot grill. Place the skewers on the grill, with the zucchini skewers, skin side down.
Turn in about 3 minutes, and carefully turn the skewers until the zucchini edges are browned and the brussels sprouts and tofu are marked.
Baste the skewers with the peanut sauce, and place the sauced side down to brown it, and baste the other side. Turn for a minute, then take off the grill and serve.