When food looks slightly beyond the eating stage, you could say, "This seems to have gone bad".
For food, such as bread, that is dry, you can say, "This seems stale".
With fruits or vegetables, you can say, "These are not fresh" or "These don't seem fresh to me".
If you notice an unpleasant smell, you can you, "This food seems to be rancid".
Some people also use the expression, spoiled.
For example, you could say, "This milk has spoiled".