How to cook the food such that no acrylamide is formed?
Salt your food well. 

See for example this article (paywall, but the abstract is sufficient). You are unlikely to have calcium chloride in your kitchen, so you probably can't use the divalent cations route. But "monovalent cations, such as Na+, almost halved the acrylamide formed in the model system". Now, a model system is not a pan, but they at least found that the calcium example transfers well to frying, so (wet) salt is likely to work too. 

Acid also seems to help, as shown in another paper. But note that they had to lower the surface pH of the potatoes to 4.0, which you may not want to do. 

Note that the literature seems to concentrate on frying potatoes. We can hope that the methods are applicable to other foods, but I have seen no evidence for it yet.