As @John has pointed out above and in their other answer there exist solid biological evidence that humans (and other mammals) are better at digesting cooked food than uncooked one, and likely to prefer cooked food given a choice.
It is however harder to prove a causal relation that humans adapted to eating cooked food. Indeed, this would require that humans are exposed to cooked food during a reasonably long period of time (on an evolutionary time scale), and that those who are less adapted to digesting cooked food become less fit and gradually elimited from the population. It is more plausible to assume that cooking was discovered as a way of getting more benefits from food, and thus being more fit in respect to the human groups that were not cooking or were being uncapable of digesting cooked food. In other words, it is more likely learned than adapted behavior. But plausibility is not a hardcore scientific argument.
What further complciates this question is that our gut microbiota has certainly adapted to the cooked food. The gut microbiome is not encoded in human genome, but it is partially inherited during birth, and its further changes are mainly determined by the living conditions. So, it is safe to claim that this microbiome has adapted to humans eating cooked food, and it has certainly undergone genetic selection in this direction.