Yeah I should've been more specific about the bigger brands like Kraft, Sweet Baby Ray's etc.
You got anymore info on getting your sauce in stores?
You have to register everything like a small business. So you'll register and trademark your name and or logo, apply for city/state permits which will allow you to make and distribute/sell food. You'll have to pay business taxes but things differ from state to state. Some states have restaurant taxes, but things like food trucks don't qualify for restaurant taxes. If you aren't opening a restaurant, food truck or store there are still permits and applications, licenses you have to get through your city and state.
If you're distributing from what I understand your kitchen space has to be certified. By a health and food inspector. It's possible to have your home kitchen certified, but you can also rent commercial space. Some places offer daily even hourly space, weekly, etc.
After you've got all your paperwork done and you've got your workspace certified, you've got your stuff bottled or packaged. Typically you have to start talking to stores. Usually stores just have a number you can contact if you want to sell a product on their shelves. There's a little bit of an interviewing and vetting process. They'll want to know what sales numbers you have, all of your business info, make sure your sauce isn't funding terrorism, etc.