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Preheat the oven to 400°F (200°C). Line a baking sheet with parchment paper.
In a large bowl, toss the tofu cubes with olive oil, soy sauce, cornstarch, garlic powder, salt, and pepper until well-coated.
Spread the tofu evenly on the baking sheet and bake for 25-30 minutes, flipping halfway through, until golden and crispy.
Meanwhile, make the peanut sauce by whisking together peanut butter, soy sauce, maple syrup, lime juice, coconut milk, garlic, and ginger. Add water if needed to achieve your desired consistency.
Serve the baked tofu with the peanut dipping sauce on the side.