Prepare the marinade by combining the soy sauce, sesame oil, ground cumin, and smoked paprika in a small bowl.
Cut the tempeh into about 2-inch cubes. Transfer to a baking dish or deep plate and pour the marinade on top. Stir to coat the tempeh with the marinade.
Cover and let sit in the refrigerator for at least 1 hour, or overnight.
Thread the tempeh pieces on short skewers. If your skewers are too long, cut them in half to make them smaller.
Heat a tablespoon of oil in a large non-stick skillet over medium heat.
Once hot, add the skewers to the skillet and cook for 2-3 minutes per side, until lightly charred, or grill them on a hot bbq.
Transfer the skewers to serving bowls and generously brush (or spoon) with the sesame and peanut sauce. Top with more peanuts and toasted sesame seeds.