Drain the tofu and pat dry with paper towels. Cut the tofu into 1 inch cubes.
Peel and mince or grate 2 cloves garlic with a microplane. Peel and mince or grate 1 tsp ginger. In a medium bowl, whisk together the garlic, ginger, peanut butter, tamari, coconut sugar, sesame oil, as much of the chili garlic sauce as you’d like, and 3 tbsp warm water.
Trim the zucchinis and slice into thin planks lengthwise, about ¼ inch thick. Stack and cut into thin strips to make zoodles. Peel the carrot and then continue to peel lengthwise to create noodles with your peeler. Chop the cilantro.
Place a large nonstick skillet over medium-high heat with 1 tbsp vegetable oil. Once hot, add the cubed tofu and cook until crispy in places, about 3 to 5 minutes. Add half of the peanut sauce and cook until sticky and browned in places, about 1 minute. Transfer the crispy peanut tofu to a plate.
Return the skillet to medium heat and add the vegetable noodles. Add the remaining peanut sauce and gently toss. Reduce heat to medium and cook until noodles are heated through, about 3 to 5 minutes. Halve the lime and add the juice from half the lime to the skillet. Season the noodles with salt. Cut the remaining lime half into wedges.
Divide the vegetable noodles between bowls and top with crispy peanut tofu. Sprinkle with the chopped cilantro and coconut chips. Serve with any remaining chili garlic sauce and lime wedges.