Warm canola oil in a medium nonstick skillet over medium-high heat. Add tofu and cook, stirring, until most of liquid has evaporated, approximately 3 minutes. Add garlic and stir until liquid has completely evaporated and tofu begins to color, approximately 1 minute longer. Remove skillet from heat and stir in peanut sauce. Let cool slightly. Spread tofu mixture evenly over wrap, top with vegetables and cilantro; roll up tightly. Cut in half.
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