The present invention provides a food decorating system that comprises of a machine frame structure serving to house a SCARA manipulator arm having three mechanical links , a first mechanical link and a second mechanical link that are respectively rendered revolve-able by a pair of revolute joints and a further third mechanical link that is rendered in translational motion along a vertical direction of motion by a single prismatic joint, the prismatic joint is further attached at its distal end to a print head assembly which acts as an end effector. The food decorating system further including a reservoir for storing coloured cream that would be dispensed by the print head assembly to execute the tracing of an image onto a curved planar surface of a food article inclusive of cakes and a pump to facilitate the dispensing of coloured cream from the reservoir.