I agree that Smartdogs & Yves are both pretty good. My husband says that they taste more authentic when they are grilled on a BBQ, but my kids only like them boiled.
Re bacon, Joanne Stepaniak has an incredible tofu bacon recipe in her "Nutritional Yeast cookbook". My husband says that the flavor is very similar to bacon - he's not vegi, so he is a reliable source for authenticity. I have been vegan for 15 yrs, so I wouldn't know!
We have been making tofu bacon "blts" that are wonderful with it & vegenaise.
It is better to be hated for who you are than loved for who you are not.