Its really not as scary as you think it is. There are several kinds of tofu as well and trust me they're all tasty!! I used to babysit for this couple and I'd be in charge of prepping dinner for them or at least getting it started. They had tofu twice a week!
They'd buy a firm brick of pressed tofu and then I'd slice it into 1/2" thick slices and wipe off excess water and just pan fry them in olive oil until browned and crispy. Sometimes I'd use diff seasonings to change it up.
I love boiled tofu in soups especially miso soup. You cube it up and toss it in near the end just before serving so it has enough time to warm through. (also firm pressed tofu)
I also love the soft tofu desserts - flavoured differently: ginger, strawberry, coconut, mango, peach and almond. Yum!
Don't be afraid to play around with tofu - how else are you going to learn to cook with it?