Yes! Tofu is soy bean protein plus a curdling agent and is therefore gluten free (as well as vegetarian and vegan) unless wheat-based soy sauce or some other off-limited ingredients are cooked with it.
Here are three video demonstrations of tofu recipes. I suggest that you start with this “Tofu Breakfast Scramble” recipe because the directions are very specific and the presentation is very clear. Then try “Barbecued Tofu” and “Tofu Stir Fry“. In these demonstrations, you will hear references to ‘barbecue sauce’ and ‘stir fry sauce’. Be sure to use gluten free versions of the sauces.