"The gimbap is on the kitchen table."
Translation:김밥이 식탁 위에 있습니다.
식탁 is table for eating. 상 is the word for any table in general. (And also 책상 means desk or table for studying.)
식 has a meaning related to food, so that's not correct. 탁자 is the general word for table.
After learning both the formal and polite forms of verbs, both verb endings should be accepted in all answers unless there is a specific context. In this sentence, there isn't a difference contextually between 있어요 and 있습니다.