Food machine

The Food Machine was a device presented in TARDISes which produced blocks of food, which had been engineered to replicate meals in the way of flavour and nutrition.

General
A Food Machine also stored water and milk which would need to be replenished when empty as these weren't created by the machine itself. (DW: The Edge of Destruction) Food machines came with a booklet which had codes for the types of food it was able of creating. (DW: The Daleks) The machine became obsolete later on and were replaced by kitchens that were much further away from the console room. (DW: Shada, WC: Shada)

The food machine dispensed foil-wrapped blocks that looked at first glance like blocks of cheese or tofu, but when eaten tasted like whatever food had been programmed into the machine. (DW: The Daleks)

Use by the Doctor and his companions
Ace was later able to make the food machine produce actual food. (NA: Legacy)

Later, the Doctor attempted to fix the machine, which had not been used in years. He was unable to do so, giving food pills with disgusting mixes of flavours. He was later able to uses these food blocks to kill the Glutonoid, when he fed him a fatal mixture. (DWBIT: The Glutonoid Menace)

The Doctor sometimes also made food in the conventional way. (NA: Cat's Cradle: Time's Crucible). And there is at least one account of the TARDIS having a refrigerator that held, presumably among other consumables, milk (IDW: The Whispering Gallery).