Place tofu on several layers of heavy-duty paper towels; cover with additional paper towels and place on a plate. Place a heavy object on top of paper towels; let stand 20 minutes to extract excess liquid.
Place coconut milk, sugar, and cardamom pods in a saucepan; bring to a boil. Cover, reduce heat, and simmer 20 minutes. Remove and discard cardamom pods.
Combine milk mixture, tofu, and melted chocolate in a food processor. Process 2 to 3 minutes or until mixture is smooth and creamy, stopping once to scrape down sides. Spoon mixture into demitasse cups or pots de crème cups. Cover and chill, if desired.