We made this the other night and it was awesome:
https://smittenkitchen.com/2022/05/poolside-sesame-slaw/
We used the chicken, but obviously you'd use the tofu. Both directions are in the menu.
We also didn't use peanuts because we have that allergy in our family. I'm not clear if your list is the entire list of allergens, or if you are avoiding all major allergens. If so, this won't work since sesame is on that list.