Tofu
Tofu was an Earth food made from curdled soy milk. 

In the 22nd century, a recipe for oden, from Hoshi Sato's grandmother, listed grilled tofu as one of its ingredients. ()

In 2255 of the alternate reality, the Shipyard Bar in Riverside, Iowa, on Earth, offered SHM tofu bites as a food item on its menu. ()

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Earth foods