You could start out tethering her to something just outside of the kitchen or in the kitchen, but away from the area where food is. While you're working in the kitchen, fixing food or whatever, walk over to her and give her tiny treats. Do this frequently. Show her that by staying away from the table and counters or trying to get food by jumping up, she WILL get food. Staying away and lying down works well. Prevent her from being able to "self serve." At other times when you're not able to watch her, keep your counters and table absolutely cleared of anything she could possibly want. She must be kept from being reinforced for counter surfing.
You can also walk her out of the area where food preparation is happening and give her a cue, such as, "out of the kitchen" or "out".....whatever (keep it the same) and when she gets to her "rug" or special place you show her, ask her to lie down and give a treat. Only expect her to stay put for 1 or 2 seconds and give her another treat. Gradually increase duration by spreading out the treats little by little. Also, gradually increase the distance you go from her. So, step back a few steps and immediately return to reinforce her for staying. Make it easy for her to succeed so she she can get the feed back that what she is doing IS working for her.
Every time she comes too close to the table or counters, lead her patiently and non-emotionally (just matter of fact) back away again and repeat. She'll get onto it. Just make sure you reinforce her frequently at first, for staying "out." And be sure that everything is exceedingly clean and clear when you can't supervise. She can put her feet up all she pleases because she won't find anything good. Soon, that behavior will extinguish because it doesn't work to get food. You don't need to make noises, startle, punish or anything rotten. Just think....to reinforce or not to reinforce. It takes a little time to teach this (not too much though) and a lot of patience, consistency and making these times a real lesson. But once she gets the message about what behavior works and what doesn't, you'll have an easier time. However, even after the behavior has extinguished and things are going along great, you still must keep counters clear of food when you're not right there or the behavior will likely re-emerge and reinforce her from time to time when she is behaving herself. She'll try again at some point in the future, most likely, if you leave food out.... and Viola`...."Hey! It works again. Woo hoo, I scored." LOL.