Heat olive oil in a pressure cooker over medium-high heat and saute garlic until fragrant, about 1 minute. Add tofu and brown on all sides, about 5 minutes. Transfer tofu to a plate.
Pour tomato puree, lentils, and cilantro into the pressure cooker, reserving 2 tablespoons cilantro for garnish. Stir in vegetable broth and 3/4 of the tofu.
Close cooker securely and place pressure regulator over vent according to manufacturer's instructions. Heat until steam escapes in a steady flow and makes a whistling sound, about 10 minutes. Adjust temperature until regulator is gently rocking. Cook on low heat for 23 minutes. Let pressure release naturally according to manufacturer's instructions, 5 to 10 minutes. Unlock lid and remove.
Remove 1 1/2 cups of lentils from pressure cooker with a slotted spoon and set aside. Add almond milk and puree soup with an immersion blender until smooth if desired. Season with salt and pepper. Add the reserved lentils and remaining tofu back to soup and mix. Ladle soup into soup bowls. Garnish with reserved 2 tablespoons cilantro.