Wrap the tofu in a towel and gently press out moisture. Let sit 5 minutes. Slice into cubes, then toss in the sesame seeds to coat. Set aside.
In a small bowl, whisk together the peanut butter, soy sauce, brown sugar, 1 ½ tablespoon of lime juice, and chili garlic sauce. Whisk in very hot water, a tablespoon at a time, until the sauce is pourable. Taste and adjust seasoning if needed. Set aside.
Place the kale in a large bowl and add remaining teaspoon of lime juice, sesame oil, and agave. Massage the kale with your hands for 1 minute to incorporate the ingredients and soften the leaves. Transfer to a plate or bowl, and top with sliced radishes, carrot, and sesame-tofu cubes. Serve with peanut sauce.
Leftover peanut sauce will keep covered and refrigerated for 2 days.