After many experiments, I was able to make a tofu-based ice cream that didn't taste like tofu! Even my daughters, who don't like tofu-tasting sweets, love this. There are many ways to drain tofu, but squeezing was the easiest method to adjust, so that's what I used.
By boiling the tofu and squeezing it out thoroughly, the unique taste of tofu is neutralized, and the texture of the "cream" becomes very smooth and rich. If you press too hard when you're squeezing the water from the tofu on a sieve, it will press out, so the key is to press firmly yet slowly. If you press the tofu too much it will become dry and grainy. If that happens, add a little water.