In contrast to conventional x-ray food inspection systems that have difficulty in detecting low-density materials, a terahertz imaging system can even identify insects and plastics embedded in a food matrix. A reflection-mode continuous-wave terahertz imaging system was therefore developed for application to food quality inspection, which requires fast, compact, and low-cost detection. High-speed operation of the terahertz imaging system was achieved through the use of a beam-steering tool. A reasonable compromise between the spatial resolution and the scan length of an aspheric f-theta scanning lens could be achieved by optimizing the lens parameters.