Cut the tofu into 1/2 thick slices. Use a tofu press to press out the liquid. You can also wrap the tofu slices in a towel and place something heavy on top to press out the extar moisture. Let sit for 15 minutes.
Make sure the grill is clean and consider lighting oiling the grates so the tofu doesn’t stick. Remove the tofu from the marinade, brushing off any garlic or cilantro since it will burn. Save the marinade. Grill over medium high heat for 2-3 minutes per side until brown grill marks have formed and the tofu gets slightly crispy on the outside.