Prueba esto
SELECT r.id, r.name, GROUP_CONCAT(DISTINCT(i.name)) as items
FROM receipts r
LEFT JOIN receipts-ingredients ri ON(ri.receipt_id = r.id)
LEFT JOIN ingredients i ON(ri.ingredient_id = i.id)
GROUP BY r.id
HAVING FIND_IN_SET('tomato',items) AND FIND_IN_SET('pesto',items)
