Preheat your oven to 400 F.
Press tofu for at least 15 minutes. If your tofu is already pretty firm, you won't need long. Cut into 1-inch cubes.
Prepare the marinade: combine yogurt, besan, and all the spices. Instead of all the ground spices, you can also a store-bought tandoori masala! Coat the tofu in the marinade. Let it marinate for as long as possible (maybe even for a few hours or overnight), but it's not a big deal if you want to make the skewers immediately.
Meanwhile, cut the veggies to bite size pieces that are similar in size to the tofu. Add an assortment of tofu and veggies to each toothpick.
Grease a baking sheet and place the mini skewers on them. Bake for 15-18 minutes, followed by broiling on high for 3 minutes.
For the aioli, simply process all the ingredients in a small food processor! Add lime juice and salt to taste.