I haven't looked at the original article or clip.
However, there is a lot of truth in what the Baroness has said. And this is not anything to do with "the rich".
To say that poor people can't cook can be read three ways - don't have the skills, don't have the resources, or don't have he motivation.
For me, as a non-poor person, I have the skills and resources, but not always the motivation. In those circumstances, I will go for premium options - eating out or superior ready meals.
I think cooking is made a lot easier by having access to nice gadgets, such as a food processor or specialist knives. It's a lot harder if all you have is a hot plate and basic microwave. Food bank clients often have almost no cooking facilities, so it makes it very hard for them to actually cook. A kettle, microwave and hot plate may be all they have to work with.
As for skills, this depends on how you have been brought up both at home and school. A lack of skills is not class dependent, as many precious middle class kids are not allowed to do anything remotely risky.
The most basic skill is sure chopping vegetables, and this should enable anyone to have a home-cooked meal every day. You don't need higher skills.