Preheat a grill to medium-high.
Put the garlic, cumin, coriander, oil, vinegar, honey, salt, and pepper in a large bowl and whisk well. Add the peppers, asparagus, mushrooms, and tofu and toss gently until all the spices are evenly distributed.
Place the vegetables on the preheated grill and cook for 8 to 10 minutes, or until they are tender with nice grill marks on both sides.
Recipe courtesy of Bal Arneson