First, prepare the sauce by frying the peanuts in a hot pan with a tablespoon of vegetable oil (skip this step if they are roasted). Stir frequently for a few minutes until they get lightly brown.
Mix the peanuts, garlic and chili with a mortar and pestle or in a blender to obtain a homogeneous paste.
In a saucepan, combine the processed mixture with the tamarind extract, lime juice and water (about ¼ cup). Continue simmering to reach the desired consistency for about 5 minutes. Remove from the heat.
Cut tofu in 1-inch cubes. Fry the tofu in a pan with hot vegetable oil to lightly brown them on all the sides.
Slice the tempeh and fry it for a few minutes.
Arrange all the ingredients on a plate and serve with the peanut sauce.