Starting at an outpost (since that's where it starts you each time you log on), equip a piece of food (if you don't have any, search the barrels) and head to a campfire. They're usually on the beach.
There will be a pan hanging over the campfire. Press X to cook whatever food item you have equipped. Let it cook until you see the food blacken. Pull it out of the pan by holding X, and the achievement should unlock.
If you can't find the campfire, you have a cooking stove on your ship.