In the hiking world, there's a whole category of Freezer Bag Cooking (FBC) recipes, with at least one cookbook written about it. Many carry an insulated cozy for the purpose, light and easily packed.
Off topic: On my long distance hikes (AT, PCT, CDT among others), I developed my own style of stoveless travel, that works well for me on the bike. Hot meals in my camp are usually just a pot of warm, salty glop, difficult to clean, a waste of time, using too much water in dry camps. Hot coffee in the morning makes me nervous and jittery, and that's easy to forgo on bike tours. Town stops are more fun without having to look for fuel resupply. My kitchen used to take up an entire front pannier, and leaving it behind was a major step in lightening the touring load.