If I have sexually HPV and touched my gentails and forgot to wash my hands and made food for some one can they get hpv?

Very rare. The troublesome strains of HPV that cause cancer of the penis and cervix are unlikely to be transmitted except by sex -- they're adapted for this. Everybody has a few strains of non-genital HPV. I'm sorry that fearmongers try to keep us from touching each other because of this. It's a good idea to wash hands before doing food preparation -- actually basic courtesy more than staph control.