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Whisk together the peanut butter, coconut milk, maple syrup, sriracha, sesame oil, soy sauce, salt, black pepper, garlic, ginger, and lime.
Heat a cast iron pan over medium-high heat. Place 4 cubes of tofu on each small skewer. Add 3-4 tbsp neutral cooking oil to the pan and sear the tofu, seasoning with salt and pepper.
Pour half the peanut sauce over the tofu in the pan and continue to flip and sear the tofu.
Serve the tofu skewers over rice and finish with the remaining peanut sauce, cilantro, scallion, crushed peanuts, sesame seeds, and chili crisp.