Nutritious and delicious can be a tall order when deciding what to bag at the grocery store.  

"I definitely find it overwhelming with all the hundreds of brands," said taste tester, Kaitie Ames.

Self Magazine felt the same way, so it went in search of the healthiest versions of some of our favorite packaged foods.  Registered dietitian, Stephanie Clarke, helped design the nutritional criteria for each category.

"The laundry list of criteria that we looked for are calories, total fat, saturated fat, sodium, fiber, vitamins and minerals," said Clarke.

They bought the foods that made the cut and had readers munch and sip on everything from juice and snacks to desserts and frozen meals. Then they dished on the tasty results.

"We had 140 readers taste test all the foods. We tasted 383 foods and we came up with 66 winners," said Erin Hobday with Self Magazine.

Rise and shine with this winning bagel. Not only is it under 250 calories, Hobday says it tastes bakery fresh. Top it with the best light cream cheese. Readers say it doesn't skimp on flavor. Or, whip up a bowl of the best unsweetened instant oatmeal…a hit for its fiber fix.
 
"I like that it had that healthy taste, but it wasn't that tree bark, completely bland taste of oatmeal. It had some flavor to it," said taste tester, Archana Ram.

Wash it all down with some OJ. Testers love this version, which has added
calcium and Vitamin D. In the afternoon, spread your bread with the preferred peanut butter.

"It's natural peanut butter, so it doesn't have a lot of additives, but it still tastes like the peanut butter you grew up with," said Hobday.

Or, add some crunch to your lunch with the winning cracker.

"These crackers were whole grain. They have three grams of fiber per serving," said Clarke.

Snack attack? Enjoy a spoonful of the best plain Greek yogurt. Clarke says it's thick, creamy and packed with protein. Or, scoop up a handful of the best nuts. They're filled with healthy fats.

"They're practically addictive. They're slightly sweet and slightly salty, and readers really loved that combo of sweet and savory," said Hobday.

For an evening entrée, dress your greens with the top pick for creamy dressing…then bite into the winning veggie burger.

"It tasted like mushrooms and it had a really full, rich mouth feel and I felt satisfied after eating it," said Emily Lawrence, taste tester.

Or, satisfy your cravings with a frozen meal. Choose a meat, veggie or seafood meal.

"We looked for them to have enough calories. We looked for them to be under 700 milligrams of sodium. We also wanted them to have a certain amount of vitamins and minerals," said Clarke.

For dessert, chew on this: The best ice cream is low cal and loaded with brownies. And the best potato chip wowed the crowd.

"The potato chips tasted like actual potato slices covered in barbecue sauce and they were nice and crunchy and they weren't too salty," said Ames.

Now, it's time to fill your fridge!

The magazine also lists winners for things like cereal, lunch meat and condiments.

You can find the complete list, as well as 20 web-exclusive winners, by logging on to Self.com.