Pat dry the drained tofu and cut into approximately 1"x1" cubes. This should be 32 pieces. In a resealable plastic bag or food container, whisk marinade and water together. Place tofu inside and marinate for 30-45 minutes.
Soak 8 long, wooden skewers in water. Warm grill over medium-high heat, or around 375 degrees. In a mixing bowl, place zucchini, pearl onions, tomatoes, and bell peppers. Drizzle with oil, and toss to coat. Add salt and pepper, tossing again to evenly coat.
Remove tofu from marinade, reserving what is left of the liquid. Start skewering veggies and tofu, making sure there are 4 pieces of tofu on each one.
Once stacked, place skewers on grill and cook for 3 to 5 minutes, or until solid grill marks are visible. Flip over and brush with remaining marinade mixture. Grill for another 3 to 5 minutes.
Spread arugula over a large platter. Prepare couscous pilaf according to package instructions, and spread that over arugula. Once skewers are grilled, place them on the platter, brushing again with marinade. Top with chopped cilantro, and serve while hot, with lime wedges.