The only thing I can think of is when I fill his kong up with peanut butter, I’ll let him lick the spoon clean (I don’t want to waste the extra pb, but I’m certainly not going to eat it after it’s been in contact with the kong!).
Otherwise, never. If something is on a plate or in a cup, it is not for him, and he knows that. But it’s not about the dishes so much—those can always get washed. It’s that I can leave plates of food on the ground next to him, walk out of the room, and know he won’t touch them. This is especially good since I frequently eat things that will make him sick—chocolate, raisins, avocados, etc.—but even if I didn’t, I wouldn’t want to have to be safeguarding my food from him.
He does know how to let me know he’d like what is on my plate, and when we’re out of the house he knows how to ask me for water from my water bottle (we’ve got quite a cute routine, if I do say so). But he waits for me to give it to him. The food and water are always from my hands, or put in his bowls.