Press the tofu for 15-20 minutes by wrapping in paper towels and placing something heavy on top. This removes excess moisture for better texture.
Prepare the marinade by whisking together soy sauce, maple syrup, olive oil, rice vinegar, minced garlic, smoked paprika, ginger, and black pepper in a large bowl.
Cut all vegetables and pineapple into 1-inch pieces while tofu is pressing. Keep pieces uniform for even cooking.
Toss pressed tofu cubes gently in the marinade until evenly coated. Let marinate for 20-30 minutes at room temperature.
Thread ingredients onto skewers in alternating pattern: tofu, pineapple, bell peppers, onion, and mushrooms. Start and end with sturdier items.
Preheat grill to medium-high heat and lightly oil the grates to prevent sticking.
Grill skewers for 10-12 minutes, turning every 3-4 minutes. Brush with remaining marinade during first flip until charred and caramelized.
Remove from grill and garnish with fresh cilantro and lime wedges. Serve immediately while hot.