In a food processor, blend tofu, oil, maple syrup, lemon juice and salt. Blend until very smooth, at least one minute, scraping down sides once or twice. Pour into large mixing bowl and set aside. In a measuring cup, dissolve arrowroot in milk and set aside.

Heat juice over low heat in a saucepan. Add agar and stir with a whisk until flakes are completely dissolved. This may take several minutes, so be patient. When flakes are dissolved, add milk mixture to juice and continue to stir until mixture thickens. Keep heat at fairly low temperature. You want it just hot enough before it boils.

Add juice to tofu mixture, add vanilla and mix well. Pour into individual serving dishes. Garnish with berries while still warm. Serve as is or refrigerate until more firmly set.