Dango

1. Combine the tofu and shiratamako in a large bowl and knead with your hands until it forms a smooth dough
2. Divide the dough in half and roll it into 2 logs
3. Cut each log into 12 equal pieces
4. Roll each piece into a ball
5. Bring a large pot of water to the boil
6. Prepare a large bowl of iced water
7. Add the dango to the boiling water and cook for about 3 minutes, or until they float to the surface of the water
8. Remove the dango from the pot with a slotted spoon, drain and place it directly in the bowl of iced water

Sweet Soy Glaze

1. Combine the ingredients in a small saucepan and whisk until smooth
2. Heat the saucepan over medium-low heat and cook, whisking constantly, until the mixture has thickened
3. Remove from the heat and cool slightly

Assembly

1. Prepare 8 wooden skewers
2. Skewer three dango balls onto each skewer
3. Optional: Grill the dango until lightly charred
4. Brush the dango in the mitarashi sauce and enjoy!