Create menu
Go To WordPress Admin > Product > Categories > Input name, slug, description and press Add new menu button
If you want to use icon font, you just need to install Font Awesome plugin then select icon from this url copy html of icon and add it into Icon Shortcode field
Edit menu
1. Click name of menu to edit menu detail
2. Hover name of menu to quick edit menu detail
Add food to menu
3. Go to Products > Edit product > Select Menus/Category Or select Menus/Category when create food
4. Or You could add/remove Menus/Category when via Quick edit food/product