I've looked at a few and I haven't loved any of them. They all have some kind of shortcoming that makes them not usable.
For example, the schema.org schema puts quantities, units, and ingredients in a single field. Fail, IMO.
Other issues include things like not being able to group ingredients or procedures.
I don't have my notes on what I thought of each of the ones I've reviewed handy, but here are some I've looked at:
- http://www.formatdata.com/recipeml/
- https://recipemd.org/index.html
EDIT - for clarity, added examples of standards