Here's a video for painting ceramic bathroom tiles. The same process should apply in the kitchen: https://www.youtube.com/watch?v=IjcYo_YA8Zo
Hi! Here's a selection of the paints available. If they are already in the kitchen, clean them carefully first.
You could check out this tutorial: https://www.drivenbydecor.com/how-painting-bathrooms-ceramic-tile-floors-diy/
I just saw a neat project with ceramic tiles where they used alcohol ink.