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Mostly, by learning small tricks. Stovetop isn't all that much different to cook on once you get the fire going - stoves and grates of sorts have been around for some time. Baking - you'd stick your hand in the oven and see how long you can keep your hand in there and things of that nature. (keep your hand in 2 seconds but not more and the oven is ready).

If you are really curios to see it done, I'd suggest visiting a live history museum - the only one I know of is outside of Indianapolis, though. They put the research in to make it historically accurate, including the cooking you see them do, and employees are generally knowledgeable about their roles.

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