But sandwich makers and pizza producers could soon be set to follow, as this flexible automated process begins to prove its advantages over more traditional template or edible ink printing techniques.
Working in conjunction with Koning & Hartman, Dutch company De Grood Innovations has developed a technology called FoodJet, which draws on rapid prototyping techniques. It allows the printing of viscous substances such as chocolate on to pastries and ice cream, with resolutions of 30 dots per inch and belt speeds of 40m/min.
The process allows designs to be changed in seconds and production to be quickly switched from one product to another with minimal downtime. Different colour applications are possible using multiple printheads.
FoodjJet systems are now installed around the world and the company's general manager Pascal de Groot said this included use by a leading UK ice cream manufacturer. He is also in talks with a specialist west country bakery to install similar equipment. De Groot is represented by Hull-based Apple International in the UK.
"We are mainly looking at bakery for decorating and surface fill, but also for the creation of the product itself such as printing shaped pancake batter directly," said de Grood. "Tomato sauce for covering pizzas will be a big upcoming market."
The printer is controlled by two Mitsubishi Electric iQ Platform programmable logic controllers, which use sensors such as proximity switches and photocells for printer alignment.
According to de Groot, coatings are limited to fluids with a viscosity no stiffer than, say, peanut butter. However, this opens up the possibility for using FoodJet for viscous sandwich fillings.