No you didn't undercook it, tofu should be golden brown and crispy on the outside but white on the inside usually.
As for draining you tofu, it's up to you. If you dry the tofu it will have a more chewy or "meaty" texture, while if you go straight from the container to the pan it will have a softer texture. I've also heard if you dry then freeze your tofu, it will have a very "meaty" texture to it.
As for draining you tofu, it's up to you. If you dry the tofu it will have a more chewy or "meaty" texture, while if you go straight from the container to the pan it will have a softer texture. I've also heard if you dry then freeze your tofu, it will have a very "meaty" texture to it.
