Grilled Tofu and Broccoli with Peanut Sauce

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3/4 cup canned unsweetened coconut milk, stirred well

2 tablespoons low-sodium soy sauce

2 teaspoons chili-garlic sauce

2 teaspoons grated fresh ginger

1 teaspoon packed light brown sugar

Kosher salt and freshly ground pepper

1 14-ounce block firm tofu, drained

1/3 cup creamy peanut butter

1 tablespoon rice wine vinegar 

2 tablespoons vegetable oil, plus more for the grill

1 head broccoli 

Sesame seeds, for topping