To describe a verb with an adjective, you can turn the adjective into an adverb! For an い-adjective you'll turn い into く, and for a な-adjective you'll add に. For example:
速い (fast) 走る (to run)
速く走る (to run fast)
簡単 (simple) 説明する (to explain)
簡単に説明する (to explain simply)
Keep in mind that not all English expressions will have a direct translation. For your example, "It tastes good", I can't think of an appropriate intransitive verb of "to taste" in Japanese (doesn't mean there isn't one, just that I can't think of one right now). Instead, a Japanese speaker might simply say 「おいしいです。」 (It's delicious/tastes good)