There are four types of tofu. Firm tofu is dense and will hold up during cooking processes using intense heat, such as stir fry or grilling. Soft tofu is good for use in recipes that use blended tofu, or soups. A medium consistency is also available. This product is good for salads and other cold food recipes.
Silken tofu is a custard-like product that works well in blended or pureed dishes.
But tofu is not the only soy product. Tempeh is like a soybean cake, with a flavor similar to mushrooms. Soymilk is made from the liquid in soybeans. This MAY be good for those who are lactose intolerant. Some brands are fortified with calcium and Vitamins D and B12 and may be a good substitute for cow's milk.