You can either turn your restaurant's Home Page into a no-touch menu or create a dedicated menu page.
If you need to create a contactless menu quickly, use Tilda templates and personalize them to your liking:
Restaurant template: https://tilda.cc/tpls/page/?q=agaterestaurant
Pizzeria template: https://tilda.cc/tpls/page/?q=pizzeria
Burger house template: https://tilda.cc/tpls/page/?q=bravaburger
View more templates 👉 https://tilda.cc/tpls
Use a QR code generator to get a code linked to your web page. Print the QR code together with the link and a short guide, such as "Scan the QR code to see the menu" and stick the cards you've printed on the tables.