Does it taste good? => This is used only to ask about how delicious the food is.
Is it in good taste? => This is used to ask if the choice of style is appropriate to the situation, or just pleasing overall. For example, you can say "He has good taste in music" (which would mean you like the same music he does), or "Her makeup was tasteful" (which would mean it was appropriate and not overdone), or "The joke was not in good taste" (which would mean it was inappropriate and not funny), etc.
I hope this was helpful!