Mix all the ingredients for the marinade in a bowl, adding them one by one, and pour into a dish.
Gently pat the tofu dry with a cloth or paper towel, then cut into large cubes. Add the diced tofu to the marinade and mix. Let marinate for at least 30 minutes (otherwise 1 to 2 hours).
Wash the rosemary sprigs, and remove the leaves from the base (the widest part of the sprigs) over 3 cm. Cut the tips of the sprigs with a knife if necessary.
Cut the peaches into pieces and set aside.
Assemble the skewers gently, alternating tofu and peach pieces.