"Mogę przynieść ci jedzenie."
Translation:I can bring you food.
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I'm afraid none of those infinitives is correct, it's "umieć" and "móc" (yes, this one looks quite different from its forms).
"móc" (mogę, możesz, etc.) is the most general translation, it can mean that you are allowed to do it, that you are willing to do it, etc.
"umieć" (umiem, umiesz, etc.) means that you are able to do it, you know how to do it, as in "Umiem czytać" (I can write = I know how to write, I learned this ability).