Heat grill. Gently press tofu cubes between layers of paper towels to remove excess moisture.
Brush grill rack lightly with oil.
Alternately thread tofu, mushrooms, onions, bell pepper and zucchini onto four 12 to 14-inch metal skewers. Spray kabobs on all sides with nonstick cooking spray.
When ready to grill, place kabobs on gas grill over medium-high heat or on charcoal grill 4 to 6 inches from medium-high coals. Cook 6 to 8 minutes or until vegetables are crisp-tender, carefully turning occasionally. Brush with teriyaki baste and glaze; cook an additional 1 to 3 minutes or until glaze is set, turning to cook all sides. Watch carefully to prevent glaze from burning.