Press the tofu for 10 minutes to remove extra moisture.

Prepare a breading station. In the first shallow bowl, place the flour. In the second bowl, whisk together the plant-based milk, chipotle peppers, garlic powder, smoked paprika, and the additional flour until smooth. In the third bowl, place the panko and salt and stir to combine.

Coat each tofu slice in the flour, shaking off excess. Dip into the chipotle milk mixture, allowing excess to drip off, then press firmly into the panko until evenly coated. Place the breaded tofu on a tray and repeat with the remaining slices.

Heat the oil in a wide skillet over medium heat. After 2 minutes, when the oil is hot, carefully add the breaded tofu in a single layer without crowding. Cook for 3–4 minutes per side until golden brown and crisp. Transfer to a wire rack to drip dry and repeat as needed with the remaining tofu. Otherwise, to air-fry, preheat the air fryer to 375°F (190°C). Lightly coat the breaded tofu with cooking spray, arrange in a single layer, and cook for 12 minutes, flipping once halfway through, until crisp and evenly browned.

Prepare the sauce by stirring together the chipotle peppers, lime juice, yogurt, and salt until smooth. Set aside.

Slice the rolls horizontally, leaving one side attached if desired. Warm them briefly over medium heat in a dry skillet or in a 350°F (175°C) oven until just heated through.

Spread the mayo on the cut sides of each roll. Layer the lettuce on the bottom half, followed by a tofu milanesa, tomato slices, avocado, pickled jalapeños, vegan cotija if using, and a spoonful of the chipotle sauce. Garnish with cilantro sprigs, close the sandwiches, and serve immediately.