I really enjoy it when I have plenty of time, am making something not too complicated that doesn't have lots of must-be-done-right-away sorts of steps, and have another adult to entertain the baby while DS and I cook. If any of the above isn't true, it's stressful and I usually tell DS that it's not a good time but we'll plan something for him to help with the next day, and then follow through with that.
We've been making a lot of recipes out of Pretend Soup
lately, and it's awesome!!
The recipes are in illustration format, so nonreaders can see what to do. DS absolutely loves it, and so do I!