This is a raw, vegetarian version of a "satay" that comes together with a quickly-made peanut sauce. The tofu gets enough flavor from the green tea marinade so you don't need to cook it. Substitute the vegetables for whatever floats your boat.
For the marinade:
Whisk together all the ingredients for the marinade in a large bowl or container.
For the skewers:
Add the tofu and mushrooms to the marinade, stir well, and refrigerate for 3 hours or overnight.
Thread the skewers, starting with the cucumber, marinated tofu, and mushrooms, and repeating twice. Continue until all skewers have been assembled. Sprinkle sesame seeds evenly on all sides.
For the peanut sauce:
Mix all the ingredients together in a medium bowl until blended and the consistency is smooth and not too thick (adding more sesame oil and soy sauce to reach desired consistency).
Serve skewers with peanut sauce and a side of rice if desired.