Cook sago or tapioca pearls as directed on package. Once cooked, drain and return to pot used to cook pearls. Add 2 tablespoons of arnibal to lightly flavor pearls. Set aside.
In a saucepan, add water, brown sugar, and vanilla extract and bring to a boil. Lower heat to a simmer and cook for 3-4 minutes or until you begin to smell caramelized notes from from the mixture and the texture is syrup-like. Turn off heat cover and set aside.
In a steamer lined with parchment paper, carefully place silken tofu onto a plate. Place into steamer basket and steam for 10 minutes or until warmed through.
To serve, scoop thin layers of tofu into a small cup. Top with warm arnibal and sago (or tapioca pearls). Serve warm.