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To make the dango: In a medium bowl, combine the tofu, flour, and salt. Mix and knead to form a ball of dough, about 2 minutes.
Divide the dough into 12 equal-size pieces, then form each piece into a ball. Gently push 3 dango balls onto each bamboo skewer, trying to keep their shape and leaving space at the bottom of the sticks for holding them.
In a pot large enough to hold the skewers, bring enough water to a boil over medium-high heat to submerge the skewers. Once boiling, add the skewers and boil until the dango are cooked through, about 4 minutes. Remove from the pot and transfer to a plate.
Heat a nonstick skillet large enough to fit the skewers over medium heat. Toast the dango with no oil, 1 to 2 minutes per side. Alternatively, you can torch them over a direct flame. Transfer the toasted dango to a serving plate.
To make the mitarashi syrup: In a small saucepan, combine the soy sauce, brown sugar, cornstarch, and water over medium heat. Stir until the cornstarch is dissolved, then simmer the sauce until syrupy, about 5 minutes.
Drizzle the toasted dango with the mitarashi syrup.