1. Cut tofu lengthwise into 4 (1/2-inch-thick) slices. Place tofu slices on several layers of heavy-duty paper towels. Cover tofu with additional paper towels; let stand 5 minutes. Cut each tofu slice, lengthwise, into 1/2-inch-thick strips; cut strips in half crosswise.
2. Place peanuts in a food processor; process until ground. Combine peanuts and panko in a shallow dish, stirring well. Combine milk and egg in a shallow dish, stirring well. Place flour in a shallow dish.
3. Heat a large skillet over medium-high heat. Add 1 tablespoon oil to pan; swirl to coat. Dredge half of tofu in flour; dip in egg mixture. Dredge in peanut mixture. Add coated tofu to pan, and sauté 4 minutes or until golden and crisp, turning to brown on all sides. Remove tofu from pan, and drain on paper towels. Repeat procedure with 1 tablespoon canola oil, tofu, flour, egg mixture, and peanut mixture.
4. Combine cabbage and the next 4 ingredients (through jalapeño). Drizzle the cabbage mixture with remaining 1 tablespoon oil; toss to coat. Heat tortillas according to package directions. Place 2 tortillas on each of 4 plates; top each tortilla with 1/4 cup slaw. Divide tofu evenly among tacos. Serve with lime wedges, if desired.