I've tried the above recipe and it was great, but the prep is the most important thing. Tofu is basically a big sponge that will soak up any sauce you cook it in, but you've got to get as much water out as possible beforehand. You may want to invest in a tofu press (about $20) if you think you want to make it regularly - I used to go through a lot of paper towels.
once that's done it's pretty easy to cook with. I like pan-frying it to get a nice crisp on the outside to contrast with the soft inside.
I've never had tempeh but I've got a package in my fridge waiting for me to try. I'm going to make this recipe when I get around to it, and add it to a noodle salad: