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In a wide, shallow dish, whisk together tamari, sesame oil, honey, rice vinegar, ginger and garlic.
Add tofu, turn to coat all over, cover and chill for at least 1 hour or overnight.
Pat tofu dry, then coat lightly with cooking spray.
Grill over medium-high heat or broil on a foil-lined baking sheet until golden brown, 3 to 5 minutes on each side.