Texture, temperature, color, and taste are the things to look for when trying to determine if tofu is done. When tofu is cooked through, it should have a firm, but tender texture. Cooked tofu will have a golden-brown crust on the outside. My favorite way to tell if tofu is done is to check it with a food thermometer. Cooked tofu should have an internal temperature of at least 160°F. And, I also do the taste test. If it tastes cooked through and has a nice flavor, it's done. If it tastes raw or undercooked, it needs to cook longer.