If the QR code doesn't scan, your menu doesn't exist. A few rules in design and printing make it reliable.
Colour and contrast
Strong contrast between code and background is essential. Dark code on a light background is safest. Inverted codes (light on dark) fail on some older phones.
Logo in the middle
A logo looks good but keep it small — at most a fifth of the code. A large logo eats the error-correction margin and the code stops scanning.
Size
For a table code, at least 3 cm per side. If it will be scanned from a distance (window, sign), add 1 cm for every 10 cm of distance.
Quiet zone
Leave an empty frame around the code. If text or a pattern touches it, scanning fails.
Test before printing
Try the code on at least two different phones, in low light, before you print. Discovering the problem after printing hundreds of table cards is expensive.