Expect spoilers as this pertains to parts of the story.

There are three prerequisites for doing the Undyne Cooking Lesson event. 

They are:

 - Befriend Papyrus: If Papyrus calls you and suggests that you and Undyne should hang out, then you have befriended him.
 - Save Undyne: Pour water on Undyne after she passes out in Hotlands. She will get up, look around, and walk away back into Waterfall after you have done this.
 - Have 0 EXP: You can not trigger this event if you have gained any amount of EXP. 

Once all three of those have been met, you can go to her house and talk to Papyrus, and the event will begin.

These are the three prerequisites according to the [Undyne Page on the Undertale Wiki][1], under the area tagged "True Pacifist Route." 


  [1]: http://undertale.wikia.com/wiki/Undyne#True_Pacifist_Route


To add: You need to complete a pacifist route before you can complete a true pacifist route.