The royal, 55, appeared at the Camberley Resource Centre to support the Disability Initiative. The charity helps adults with disabilities and aims to support them to be as independent as possible by providing care.
Photos show Sophie, who is the wife of Prince Edward, baking flapjacks.
She donned an apron for the potentially messy activity as well as a green floral face mask throughout the visit.
In one photo, she is seen carefully pouring syrup into a pan for mixing.
It highlights disabilities that may not be immediately apparent to other people, such as mental health, hearing impairments, chronic pain, and more.
Earlier this year, Sophie teamed up with Kate Middleton to make supportive calls to nurses all around the world.
To honour International Nurses Day in May, the two royals had a number of conversations with healthcare staff in countries from India to Sierra Leone – all were Commonwealth.
One call was to the LV Prasa Eye Institute and Apollo hospitals in India. Sophie visited the eye centre in 2019 in her capacity as Global Ambassador for the International Agency for the Prevention of Blindness.
She said: “It’s amazing that you’re able to still continue the support and the care that you’d normally provide even under these really difficult circumstances.”
She also told medical staff in India: “The outcomes are so much better because of the interventions you are doing.”
Meanwhile, Sophie’s recent Christmas activities may bring some welcome Christmas cheer particularly as the coronavirus pandemic is set to prevent the Royal Family from meeting up as they might normally do over the holiday season.
The Queen usually travels to her Sandringham home in Norfolk to celebrate Christmas.
However, this year it is thought the monarch will have to spend Christmas at Windsor Castle.
Even then, she will be limited to a “Christmas bubble” in which she will only be able to mix with a limited number of family members.