Soak rice in a bowl of water, at least 1 hour. Drain, then rinse rice to remove debris. In a heavy pot, combine rice, 1 3/4 cups water, and salt, and bring to a boil. Cover and reduce heat to a simmer and cook, 30 minutes. Turn off heat and let rest on the burner without lifting the lid, 15 minutes.

Place tofu on a cutting board and press it for 15 to 30 minutes. Slice tofu lengthwise into 1-inch-thick strips. In a skillet over medium-high heat, warm until browned, 3 to 4 minutes per side. Carefully remove tofu from skillet and let cool. You can also slice tofu into thinner 1/4-inch strips.

In a pot with a steamer basket, boil water. Add kale, and steam, 2 minutes. Remove from heat.

In a saucepan, bring orange juice, lemon juice, and sugar to a gentle boil, then simmer on low heat, 1 minute. Remove from heat; add soy sauce, mirin, and vinegar. Return to a gentle boil and cook until mixture thickens, 2 minutes. Remove from heat.

When the rice has cooled, transfer to a bowl. Pour dressing over rice, and mix until grains are coated. Serve in individual bowls topped with tofu, steamed kale, avocado, green onions, toasted nori, and sesame seeds.