Basically everything that comes out of a pan or fryer and is even slightly darker than "basically raw" will have some carcinogenic compounds. Frying any biomatter will create some measurable quantity of carcinogens, depending on the temperature and composition. First you will get the likes of Acrylamide, polycyclic aromatic hydrocarbons (e.g. Furan), Amines. In the presence of salt, spices, certain oils you can get even nastier stuff like Dioxines. And if you heat it even further, getting a few black spots, you are left with basic carbon. Even that isn't harmless, carbon modifications that you will produce in some minute quantity, like nanotubes and fullerenes, are carcinogenic.
Denaturing hydrocarbons like in cooking will inevitably produce some of the above compounds, there is no way around it. You can try to avoid producing some of them by carefully steering conditions in a way that reduces some of the above compounds. But usually that increases the risk of other ones being produced. You can also undercook everything, but then you'll be left with unsafe food because of the bacterial risk.
All of the above are carcinogenic in (comparatively) huge quantities. Usually "in mice". The link to cancers caused by preparation of food is vague at best, totally speculative at worst. I don't worry about it, and neither should you.
If you really want to learn about risky foodstuff, read up about cyanide in almonds and other fruits with a stone (people even eat that stuff "for health reasons"..., e.g. https://www.webmd.com/cancer/cancer-apricot-seeds ), coumarin (basically an anticoagulant, in higher doses rat poison) in cinnamon, tonka beans and woodruff, and the funny flourinated compounds you get from overheated PTFE-coated cookware (the presence of acid lowers the "fun" temperature but at least might prevent production of gaseous hydroflouric acid). There, the risky dose is much much much closer to the usual kitchen use. In comparison, all of the kitchen cancer scare is harmless.