RSMO Ch. 196 makes me think the answer is yes. In particular:
A cottage food production operation is not a food service establishment and shall not be subject to any health or food code laws or regulations of the state or department other than this section and rules promulgated thereunder for a cottage food production operation.
(1) A local health department shall not regulate the production of food at a cottage food production operation.
However, health.mo.gov says
The caller should contact their local health agency to determine specific requirements, including licensing, facility requirements, etc. In general, an individual may not use their home kitchen to prepare food to be sold or distributed.
I can't tell if I am allowed to sell 'non-hazardous' foods from my kitchen so long as they are appropriately labelled, sold in-person, netting me < $50k a year, etc and I'm nervous about calling the health department because the statutes make it sound like I don't need an inspection but I have reason to believe the health department may be telling local cottage food production operations they have to have inspections, licenses, etc unfairly.
Is it reasonable for me to believe, based on the information above (and the rest of Ch 196) that I can sell non hazardous foods from my kitchen as long as I meet the requirements laid out in the statutes?