The laws are at the state level, so you'd have to dig deep into your particular state's laws to find out for sure (or hire a lawyer to do it). But since the concern is about foodborne illness, I suspect that you will run into a problem with the law in any case where you are offering food to the public that was not cooked under your state's watchful eye, regardless of your particular compensation scheme or lack thereof.

I am aware of one way around this, though (sort of). As I recall, if you come to my house and cook food for me in my kitchen, then I can pay you and everything is fine. I don't think you even need a food handler's license. But obviously, that's a lot less convenient for both of us.

I'm no expert on this topic. I've just looked into it enough to get discouraged!