To make the marinade, combine pineapple juice from can, garlic chili sauce, lime juice, sesame oil, minced garlic, jalapeno, salt and pepper in a mixing bowl. Stir and set aside, about 2 minutes.
Cut baked tofu and pineapple chunks into even-sized 1 inch cubes. Thread skewers and add lime wedge to each. Brush each skewer with marinade.
Lightly brush grill with oil. Place skewers on grill or grill pan over medium-high heat. Flip after 5 minutes. Remove when tofu browns and grill marks appear, about 5 more minutes. Remove from grill and serve with remaining marinade and lime.