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For now the best way is to use a transport with a route.
(I've also had colonists starve to death while a rocketship full of food was parked right outside, because the drones decided it was more important to refuel the ship and move around waste-rock rather than offload the desperately-needed emergency supplies, hence why it'd be very nice indeed to have something similar for the drones....)
EDIT: On closer examination, it seems to almost entirely be an issue with the Drones. The shuttles aren't delivering food because the Drones leave it all sitting around in 'unreachable' places, such as in rockets or on farms, busying themselves with everything EXCEPT carrying it to the designated storage where the shuttles could get at it. Doesn't seem to matter what buildings you 'prioritize', either...