I know this might not change the fact that you do feel guilty, which is valid. But to maybe add someone else's perspective:
From what you have described, I don't think you actually have anything to feel guilty about. You did not yell at your colleague or anything, you were merely a bit unfriendly. Which is fine, it happens. It might warrant an explanation or apology, which you have already given. I don't even think the food is necessary, but if it helps you feel better, it won't hurt either.
The best thing you can do is move forward and maybe come up with a way to handle the next time such a situation comes up. Like maybe a phrase you can use to let them immediately know that it's not a good time but not their fault.