Fry the tofu: Cut tofu into 1-inch cubes and gently press between clean kitchen towels or paper towels to absorb excess moisture. Add 1/2-inch oil to a skillet and heat over medium-high. Oil should be hot enough that a small piece of tofu sizzles but does not burn. Fry the tofu cubes in a single layer until crispy on all sides. This may need to be done in batches. Drain and cool on a towel-lined plate.
Make the dressing: Whisk together the tamarind, vinegar, sugar, sambal, and salt.
Assemble the salad: Toss the cooled tofu, cucumber, apple, jicama, pineapple, and half of the peanuts together in a large bowl and toss with the dressing.
Garnish with remaining peanuts and serve immediately.