Thermal processing contaminants, including acrylamide (AA), heterocyclic amines (HCAs), and polycyclic aromatic hydrocarbons (PAHs), are carcinogenic compounds formed during high-temperature cooking processes such as frying, grilling, and roasting. AA primarily develops in carbohydrate-rich foods, whereas HCAs and PAHs are prevalent in protein- and fat-rich foods like meat, fish, and oils. Controlling these contaminants is challenging as they typically form during the final stages of food preparation. This chapter investigates the formation mechanisms, precursors, and conditions leading to AA, HCAs, and PAHs in foods, alongside strategies for their mitigation. It also evaluates dietary exposure levels across various countries, with a case study on the Republic of Korea, including associated risk characterization outcomes. Finally, it outlines effective management strategies to reduce the presence of these harmful compounds in food preparation and processing.