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Whisk the pesto with the vinegar, basil, salt and pepper in a large bowl. Add the tofu, zucchini, yellow bell pepper and tomatoes; toss until evenly coated. Alternately thread the tofu and vegetables onto 8-inch (20 cm) wooden skewers.
Turn the grill on. Select the Manual Mode program, select the red color setting and press OK. Once the purple indicator light has stopped flashing, place half the skewers on the grill and close the lid. Cook, in batches, for 6 to 8 minutes or until the vegetables are tender and the tofu is well marked.
Brush the skewers with any remaining marinade before serving.