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Whisk the pesto with the vinegar, basil, salt and pepper in a large bowl. Add the tofu, zucchini, yellow pepper and tomatoes; toss until evenly coated. Alternately thread the tofu and vegetables onto 20 cm wooden skewers.
Select the "Manual Mode" program and press "OK". Once the purple indicator light has stopped flashing, place half the skewers on the grill and close the lid.
Cook, in batches, for 6 to 8 minutes or until the vegetables are tender and the tofu is well marked. Brush the skewers with any remaining marinade before serving.
Tips: Serve the kebabs over cooked brown rice or couscous. For those who don’t enjoy tofu, use mushrooms instead. For meat lovers, try cubed chicken or beef instead. For seafood lovers, try shrimp or scallops instead. Basil pesto can be substituted for the sundried tomato pesto.