1. Heat oil in a large saucepan over medium heat; add squash and onion. Cook until vegetables have softened (about 10 minutes), stirring often.
2. Combine simmer sauce, milk, and 1/2 cup water, whisking well. Place tofu in the saucepan; add simmer sauce mixture. Cover pot; simmer until vegetables are tender (about 7 minutes). Remove lid. Add broccolini; simmer until tender (about 5 minutes).
3. Place rice in 4 bowls; top with curry and basil.