Spiralise the zucchini, sprinkle with salt and leave in a colander in the sink for 30 minutes to remove excess water and prevent them from going soggy. Rinse and drain, patting dry with a paper towel to remove excess salt and moisture prior to adding them to the pan.
Make the peanut sauce. Put all sauce ingredients into a bullet blender or food processor and blend until creamy.
Drain the tofu and blot dry with a paper towel to remove excess moisture. Cut up into 2 cm cubes.
Heat some oil in a pan, and add tofu. Only stirring occasionally, let tofu start to brown. Add in about half of the sauce and stir through the tofu. Sauce will start to cling to the tofu and get crispy on the outside. Keep stirring until all tofu/sauce is golden brown. Remove tofu from the pan and set aside.
Turn the pan heat down to medium and add zucchini noodles and just enough of the remaining sauce to coat the zoodles. Stir through until zoodles are evenly coated and heated through.
Serve zoodles in a bowl with a big scoop of the tofu on top. Sprinkle with sesame seeds and eat immediately.