Heat oil in large skillet set over medium-high heat; cook tofu, red pepper, zucchini, onion and garlic for 5 to 7 minutes or until tofu is golden and vegetables start to soften.
Stir in hot water, milk, sauce mix and uncooked pasta (from Hamburger HelperTM pkg); bring to boil, stirring occasionally.
Reduce heat; cover and simmer, stirring occasionally, for about 10 minutes or until pasta is tender.
Remove from heat. Sprinkle with cilantro (if using).
How To Video
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