Already a few food printers on the market. Some pretty neat chocolate and sugar ones.
NASA was looking at this stuff quite a number of years ago. I recall they had a pizza type food dispenser that would print a crust, add sauce, and then cheese. I don't believe it did the cooking though.
Protein synthesis is still in its infancy. There is artificial lab grown meat. (By all accounts, awful so far)
The root issue with food printers is they basically need print ready materials. There is no machine taking raw elements and making each food component. In reality that concept is so energy intensive it will likely never be a thing. More economical to let natural processes do the work.
Now something that takes a base type of material and can...