As the Inventory table has an identity column, you need to specify which fields you are inserting into. If you don't specify the fields, the database engine assumes you mean all the fields and will try to put something in them all if it can. So, modify your INSERT statement to include the fields. Note that your query doesn't actually make sense as it stands - if you are trying to insert values that you pass in, then you don't need to do a SELECT in your INSERT. Try this instead:
INSERT INTO Inventory(FoodID, ItemID) VALUES (@fID, @itID)