Drain the tofu and cut it into 1.5-inch square chunks. Set aside.
Combine the garlic, ginger, soy sauce, sriracha, rice vinegar, sesame oil, maple syrup, lemon juice, and Worcestershire sauce in a small bowl or container and whisk them together.
Add the chunks of tofu, cover and refrigerate for about an hour or more.
Soak your wooden skewers for about 10 minutes before assembling so they don't catch fire when cooking.
Assemble the skewers by sliding the veggies and tofu chunks onto the skewers, alternating the veggies and tofu.
Grill on an outdoor grill over medium-high heat for about 3 minutes per side, or cook indoors on a hot skillet.
Brush with some leftover marinade while grilling.