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Prepare barbecue (medium-high heat). Place vinegar and minced garlic in large bowl. Gradually whisk in olive oil. Stir in sliced mint. Season marinade to taste with salt and pepper.
Working in batches, add tofu to marinade and turn to coat. Transfer tofu to baking sheet and sprinkle with salt and pepper. Add zucchini, bell pepper, eggplant, mushrooms, and radicchio to marinade in bowl and toss to coat.
Place zucchini, pepper, eggplant, and mushrooms on grill. Sprinkle with salt and pepper. Cook until charred and softened, turning occasionally, about 6 minutes. Transfer to baking sheet. Place tofu and radicchio on grill. Cook until tofu is charred and radicchio is charred and wilted, about 2 minutes per side.
Stack tofu and vegetables on plates. Garnish with mint sprigs and serve
Number of Servings: 4
Time to Prepare: 25 minutes