In a small saucepan, combine the tamarind paste, palm sugar, soy sauce, chili sauce, sesame oil, and water.
Heat over medium heat, stirring constantly, until the sugar is dissolved and the sauce is well combined. Remove from heat and let it cool.
In a large mixing bowl, combine the pineapple chunks, sliced cucumber, julienned jicama, bean sprouts, and tofu.
Pour the prepared rojak sauce over the salad mixture.
Toss gently to ensure the salad is well coated with the sauce.
Transfer the rojak salad to a serving plate or bowl.
Sprinkle with crushed roasted peanuts and garnish with fresh cilantro leaves.
Enjoy your meal!