Is Kakutou Ryouri Densetsu Bistro Recipe hentai?
English title: Fighting Foodons
No
Rated G (All Ages) on MyAnimeList and not tagged as Hentai.

TV · 2002 · 26 episodes · G - All Ages
Adventure, Comedy, Fantasy, Gourmet, Shounen, Strategy Game
An 11-year old boy named Zen bands together with his younger sister, Karen, and a young boy who has a large appetite, Pitan, to battle an evil empire by using their "Foodons"; strange monsters that are created from various foods. (Source: ANN)
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