In a large ziplock bag, combine tofu cubes, soy sauce, rice vinegar and garlic. Set aside to marinate while you prepare the noodles and peanut sauce.(you can prepare the tofu ahead of time and let marinate for up to 12 hours)
Cook rice noodles (or spaghetti) according to package directions. While noodles are cooking prepare the peanut sauce.Rinse and set aside.
In a large bowl combine all ingredients for sesame peanut sauce; stir until thoroughly combined. Set aside.
Heat a large skillet over medium-high heat. Pour contents of ziplock bag (tofu and marinade) into skillet and fry, turning frequently until tofu is thoroughly cooked and lightly browned on all sides ( approx. 15 min.)
In the bowl with peanut sauce, combine noodles, tofu, red pepper, carrot, and cabbage. Toss to coat.
Divide noodle mixture among lettuce cups. Garnish with dry roasted peanuts and fresh cilantro if desired.