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 Categories ID you can find when browsing Food Menus or Categories. Enter IDs separated with commas, they will appear in order you place theme.
There are some additional settings you can play with.
Note: Show filters will display Parent Categories as Filters, If you want to use Parent categories it is advisable not to assign any elements to them as they will be repeated.