Chavenir Bold by Måns Grebäck is a free handwritten font with tall, loosely drawn letters, an easy monoline stroke, and softly rounded joins. Their uneven widths keep the lettering especially informal and direct.
A cafe menu is a particularly apt use, since the relaxed forms resemble quick marker lettering. The same approachable voice suits food packaging, community event posters, and children's publishing aimed at readers who respond to friendly, handmade graphics.