Start with creating categories Food Menu -> Categories
Fill in the details, optional description and image representing this category
Go to Food Menu -> Food Menu Items -> Add Food Menu Items
Fill in the details Title, optional description, price. Make sure you choose your category for that item and if required choose image representing this item.
Create menu page
Create a normal page Pages -> New, make sure you switch to Visual Composer mode and place Food Menu element. Make sure you provide you play with settings to achieve the look you want.
If you wan to have menu filters, please place Foodmenu Filters elements. This will generate Filters based on the categories it finds within the menu page.