Garum, which is a type of fermented fish sauce, was a popular condiment in the Roman Empire and was shipped in amphorae throughout the empire.
http://www.pompeii-food-and-drink.org/garum.htm
There is also a book "A taste of Ancient Rome" by llaria Gozzini Glacosa which has recipes for the food eaten by the ancient Romans.

According to Terry Jones' "Hidden History of Rome" on BBC, cabbage, garlic, and chickpeas were staples of the Roman diet. Another food mentioned was "pulsum", a garlicy soft cheese, probably from goatsmilk. Bread would be eaten alongside, and could be improved with honey or olive oil.

The food portrayed is generally pretty spice-y, that is, reliant on strong additives to impart flavor such as the garlic or pepper. In the end, you arrive at cooked salads, mashed pastes, etc. that are actually reminiscent of Indian cuisine, but with different flavors.

For alcohol, they drank "mulsum", a watered-down, potentially warmed sweet wine.

Also, during the late Republic/early Principate era, most Romans would be lining up to purchase pre-made dinners at cafeterias, and the cost would be the majority of their daily wage.

https://www.youtube.com/watch?v=NJDnRN36iT4

Skip to 6:50 for a full rundown of the urban Roman diet, and 7:45 for a grocery list!

edit: All of this is, of course, to do with average-wage Plebeian craftsmen, etc. The wealthy could afford much more modern food, like rice, cheese, sweets, etc.

fyi, you'll find more responses in these earlier posts:

• What was Roman/Early Middle Ages food like in Italy?

• How different is food preparation/taste 2,000 years ago vs today?

• When did "traditional Italian" cuisine start and what made it happen? The Roman food is almost nothing like it.

Also include recipes, please.

You would recognize their wine, but it wouldn't taste familiar to you. Wine was generally watered down, as it was a year-round drink with a quarterly harvest. It was also spiced and heated, which generally is used to mask poor storage or production.

You would find beer, but it would be wildly different than beer you are familiar with. Due to the faster spoilage rate, your beers would be drank fresh and often...spoiled. A passage from the Roman Emperor Julian noted that beer smelled like a goat. The Roman colonies that expanded into modern Germany scaffolded the brewing culture that led to what we know as lagers. You'd have to magically travel to the 1200's to see the origin of this style, but a strong grain-based beverage industry in this region kept the possibility open.

If you were a Roman in the heartland, expect to get your buzz on early in the morning. If you lived in the colonies, you only made alcohol when the harvest exceeded the storage capacity.