Cook tofu, oil, garlic, and onion in a large skillet over medium heat for 5 minutes. Add chili powder, paprika, cayenne, cumin, salt, lime juice, and tomato sauce to the skillet and stir. Cook for 3 minutes.
Stir in cilantro. Spoon mixture into a bowl.
Spoon tofu mixture into taco shells. Top the mixture with lettuce, tomatoes, avocado, cheese, and salsa.