Press the tofu for 15 minutes using a tofu press or heavy weights to remove moisture, then cut into 1-inch cubes.
In a small mixing bowl, whisk together peanut butter, soy sauce, rice vinegar, maple syrup, ginger, garlic, sriracha, and warm water until the emulsion is smooth.
Heat 1 tablespoon of vegetable oil in a wok or large non-stick skillet over medium-high heat.
Add tofu cubes to the skillet and sear for 8-10 minutes, turning occasionally, until all sides are golden brown and crisp.
Remove tofu from the skillet and set aside on a plate.
Add the remaining 1 tablespoon of oil to the skillet and increase heat to high.
Add broccoli, bell pepper, carrot, and snap peas to the pan; stir-fry for 4-5 minutes until the vegetables are tender-crisp.
Return the cooked tofu to the skillet and pour the peanut sauce over the ingredients.
Toss the mixture continuously for 1-2 minutes over heat until the sauce has thickened and evenly coated all components.
Remove from heat and serve immediately over steamed rice or grain of choice.