I’ve never heard anybody say “named” for anything other than people. So you can use “named” for people or animals, and use “called” for people, objects, or any kind of noun. For example: “A man named George” is correct. “A man called George” is also correct. “A city called Moscow” is correct.

I would say: Last night I ate a delicious food which called Hotpot.

I would use the second sentence. I think "named" tends to be used more often for people/pets/etc., although I don't know that it's a hard-and-fast rule.