On a large plate or rimmed baking sheet, set tofu between triple layers of paper towel. Place a heavy pot on top of tofu, and set aside. Rinse and dry scallions; remove any bruised or limp layers. Thinly slice scallions; reserve white and light green sections separately from dark green sections.
In a medium bowl, whisk together broth, tahini, soy sauce, peanut butter, brown sugar, cumin, cayenne, and 1 tablespoon apple cider vinegar until fully combined.
In a high-sided non-stick sauté pan, heat oil over medium heat until shimmering. Tear tofu into rough 3-inch chunks and add to pan. Cook, stirring occasionally, until tofu begins to brown, about 5 minutes. With edge of spatula, break tofu into rough 1-inch chunks. Cook, stirring occasionally, until tofu is golden brown, about 10 minutes.
Add garlic, ginger, white and light green parts of scallion; and salt to tofu. Cook, stirring constantly, until fragrant, about 1 minute. Add tahini sauce to tofu, and bring to a simmer. Add kale on top of tofu, cover pan, and reduce heat to medium-low. Cook for 5 minutes, swirling pan occasionally. Stir kale and tofu to combine; kale should be wilted and easy to stir. Cover pan and cook for another 5 minutes, swirling pan occasionally.
Add sesame seeds, peanuts, and remaining 1 teaspoon vinegar to tofu; stir to combine. Adjust seasoning to taste. Serve with rice; garnish with scallion greens and additional sesame seeds.