Cut cucumber and tofu into bite-sized pieces.
Finely chop onion and avocado.
Season tofu with salt and pepper and lightly pan-fry with olive oil.
Place cucumber, grilled tofu, onion, avocado, and cherry tomatoes into a bowl.
Add soy sauce, lemon juice, and olive oil, then mix evenly.
Serve in a dish and sprinkle with sesame seeds to finish.