Sa'id bin Al-Harith reported:
I asked Jabir (May Allah be pleased with him) whether it was obligatory to make Wudu' for Salat (prayer) after eating cooked food. He said: "No, because in the lifetime of Messenger of Allah (ﷺ), such food was rarely available. We had no handkerchiefs, so when we ate such food we would wipe our fingers against our palms, forearms or (the sole of our) feet, and would offer Salat without fresh Wudu' (for prayer)."[Al- Bukhari].
App reference: Book 3, Hadith 27
Arabic/English book reference: Book 3, Hadith 754