After you have drained and pressed the tofu, slice it into 3-4 slices. Then make the marinade.
In a large bowl or measuring cup with a spout so it will pour easily, add the zest of the 3 oranges, and the juice of them(about 3/4 Cup), and the zest of the 3 limes as well as the juice(about 1/3 Cup), the olive oil, agave, soy sauce, garlic, cumin, salt and pepper. Whisk to combine.
Add the tofu and cilantro to a large plastic ziploc bag, then pour the marinade into the bag**. Marinate the tofu for at least an hour, but the longer the better, even overnight is great!
When ready to cook the tofu, I like to use my air fryer grill setting, and grill the tofu for 15 minutes, brushing with the extra marinade and flipping halfway through the cooking process.
Or you can bake the tofu by preheating the oven to 375 degrees(F), placing the tofu on a large sheet pan sprayed with non-stick spray, and baking for 15 minutes, flipping and baking for another 15 minutes, brushing with extra marinade when you flip.
Serve with steamed white rice and mango salsa.