If you don't have barley on hand, serve with brown rice, quinoa, or farro. You can also cook the tofu on a stovetop grill pan--just be sure to turn your oven vent on high, as the honey-based glaze is sure to create some smoke.
Preheat grill to high (450°F to 550°F).
Bring beer, honey, and red pepper to a boil in a saucepan over medium-high. Cook, stirring occasionally, 20 to 25 minutes or until reduced to 1/2 cup.
Thread tofu cubes onto 4 (6-inch) skewers. Coat with cooking spray. Sprinkle with 1/2 teaspoon pepper and 1/4 teaspoon salt. Brush tofu and zucchini with beer mixture. Arrange tofu skewers and zucchini in a single layer on grill grate coated with cooking spray. Grill tofu, brushing often with beer mixture, 2 to 3 minutes per side or until grill marks appear. Cook zucchini 3 to 4 minutes per side or until tender and grill marks appear. Remove from grill; coarsely chop zucchini.
Toss together zucchini, tomatoes, arugula, barley, oil, vinegar, and remaining 1/2 teaspoon each pepper and salt in a large bowl. Top barley mixture with tofu.
Everyday Vegetarian: A Delicious Guide for Creating More Than 150 Meatless Dishes, available May 16, 2017 ($22, Oxmoor House)