Yes, Mark 7:
See also Dietary laws from Adam to the apostles.
Paul confirmed that in Romans 14:19 For it doesn’t go into their heart but into their stomach, and then out of the body.” (In saying this, Jesus declared all foods clean.)
More generally, Colossians 2:14 I am convinced and fully persuaded in the Lord Jesus that nothing is unclean in itself. But if anyone regards something as unclean, then for him it is unclean. … 20a Do not destroy the work of God for the sake of food. All food is clean.
Eating pork or shrimp is fine but you don't have to.16 Therefore no one is to act as your judge in regard to food or drink or in respect to a festival or a new moon or a Sabbath day.
See also Dietary laws from Adam to the apostles.