Wrap tofu in a double layer of kitchen paper and microwave for 2 minutes to remove excess moisture.
Transfer the tofu to a bowl and mash until completely smooth (or press through a fine sieve).
Add the flour and knead together until a smooth, pliable dough forms.
Roll the dough into bite-sized balls (about 2–3 cm).
Bring a pot of water to a boil and drop the dango in. Once they float to the surface, boil for an additional 5-6 minutes to cook through.
Transfer immediately to a bowl of cold water to cool, then drain well.
Thread 3 to 4 dango onto each bamboo skewer.
In a small pan, combine all sauce ingredients over medium-low heat. Stir constantly and simmer until glossy and thickened.
Arrange the skewers on a plate and generously spoon the warm mitarashi sauce over the top.
Cook it hands-free.
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