The short answer: It is not recommended.
The long answer: Also known as bean curd, tofu is a processed dish made of condensed soy milk that has been pressed into a solid white block. It contains protein, carbs, fiber, and fat, as well as nutrients manganese, calcium, and selenium. Though tofu contains protein, it is not meat-based protein that dogs need to function at their best. Also, feeding tofu to your canine can make him gassy, cause gastric dilatation volvulus (bloating), or trigger food-based allergies.
What to do if your dog accidentally eats tofu: Observe him for the next 24 hours and look for signs of bloating. Call your vet if he manifests any of the following symptoms: bloated abdomen, difficulty breathing, vomiting, excessive drooling, and pale nose or mouth.
If your dog is allergic to soy, he may show signs such as itchy skin, vomiting, diarrhea, hyperactivity, weight loss, lack of energy, and even aggression.
In summary: Tofu is chemically processed and texturized soy, so it may be tough for your pooch to digest. It also contains phytoestrogens and indigestible sugars that can lead to gastrointestinal upset. Instead of processed soy, go for edamame (immature vegetable-type soybeans) or other dog-friendly human food.