For those concerned about not knowing whether a speaker means 'tofu' or 'to know' in conversation, it'll be pretty clear from the context. Consider how many homonyms English has - have you ever mistaken someone having said 'flour' when they meant 'flower', or 'sweet' instead of 'suite'? Unlikely.
Note: Not a fluent Indonesian speaker but have doing some self-study for several months.
There are different verbs for "know", but like with any language they often carry different shades of meaning. Using Cambridge's Online English-Indonesian dictionary as a guide:
Tahu is anything you've been aware of or informed about: "I know he is at home." Aku tahu dia di rumah.
Mengenal is what you've learned or remembered: "He knows a lot of poetry." Dia mengenal banyak puisi. It also has connotations with what you can identify: "He knows a good car when he sees one." Dia mengenal mobil bagus kapan dia melihat satu.
Kenal more relates to being aware of the identity of someone, perhaps on a friendly level: "I know Mrs. Taylor." Saya kenal Ibu Taylor.
That being said, as far as I know "tahu" is the most common spoken way to express knowing something. Context will separate the verb from the noun for tofu.