Combine the first 7 ingredients in a blender or food processor; process mixture until smooth.
Place chopped chocolate in a small microwave-safe bowl. Microwave at HIGH 1 minute or until almost melted; stir until smooth. Add chocolate to tofu mixture; process until smooth.
Divide orange sections evenly among 6 bowls or parfait glasses; top each serving with 1/2 cup mousse. Cover and chill at least 1 hour.