Mash the soft tofu through a sieve until smooth.
In a bowl, combine the mashed soft tofu, milk, and sugar.
Pour the mixture into a small saucepan and gently heat over low heat.
Dissolve the gelatin in warm water and add it to the tofu mixture, stirring well.
Strain the mixture once more and pour it into containers.
Let it set in the refrigerator for at least 2 hours.
Finish by topping with your desired sauce or syrup.