Blend: Add tofu, mango, soy milk, and lime juice to a blender and blend until smooth.
Mix with chia seeds: Pour into a bowl with chia seeds and mix well, breaking up any clumps of chia seeds.
Soak: Cover chia pudding and transfer to the fridge to thicken for at least 1 hour.
Customize: Add more milk if you want a thinner pudding. If the chia pudding isn't sweet enough for you, you can add some maple syrup. If you have leftover mango, chop and mix it into the chia pudding.