Begin by peeling 1 of the mangoes removing all the flesh possible and discarding the seed.
Place the mango pieces in a blender with jalapeno, lime juice and orange juice. Blend until smooth and place in large bowl.
Meanwhile peel and remove flesh from the remaining mango and finely dice.
To finish the salsa, add the tomatillos, tomato, red onion, cilantro, and the diced mango all to the pureed mango mixture season with salt and pepper.
For the tofu:
Fill a large bowl with water and add ice. Bring a large pot of salted water to a boil and add the snap peas. Blanch until they brighten and have lost their raw taste, 1 to 2 minutes. Drain the snap peas and transfer them to the ice water. When cold, drain.
In a large bowl, combine the tofu, sesame oil, cornstarch, and soy sauce and mix. Set aside for 10 minutes.
Heat a wok or heavy sauté pan over high heat. Add the grapeseed oil and swirl to coat the pan. Add the tofu and stir-fry until just cooked through, 6 to 8 minutes. Add the snap peas and the salsa. Season with salt and pepper and serve.