In a bowl, mix Tofu and Mochiko well. The dough should not be too loose nor too firm (about the firmness of an earlobe).
Scoop out tablespoon-size portions of dough and roll into balls.
Boil water in a large pot, and cook the dough balls until they float. Once they float in the boiling water, cook 2-3 minutes longer, then remove from the water using a mesh strainer (or ladle) and place onto a plate lined with a paper towel.
Meanwhile, make Mitarashi sauce. In a small pot, add all the ingredients for the sauce and stir. Cook until the sauce boils and keep it warm.
Slide 3-4 Dango balls onto each skewer. Heat a non-stick frying pan at medium heat, place skewered Dango in the pan, and cook until lightly browned.
Put Dango on a plate and pour the sauce to coat.
Video
Notes
When it's freshly boiled Mochi, you can skip the grilling step and eat as is if you prefer. You don't have bamboo skewers? No problem! Just serve as loose Dango balls, and pour the sauce over them. Taste is exactly the same!