A list of affected foods is provided at www.food.gov.uk/sudanlist and will be updated as further information becomes available.
If people have any of these foods at home they are advised not to eat them and to contact the store they bought them from for a refund.
Food Standards Agency Chief Executive Dr Jon Bell said: 'Sudan I could contribute to an increased risk of cancer.
'However, at the levels present the risk is likely to be very small but it is sensible to avoid eating any more. There is no risk of immediate ill health.
'The Agency is working with the industry to ensure that any remaining affected products are speedily removed.
'Because of the widespread use of this Worcester sauce to flavour other foods, we may find further affected products. We will continue to take action to remove these and minimise the risk to consumers.'
The foods, including soups, sauces and ready meals, have been distributed widely. At least 350 food products are currently known to be affected.
The companies whose products are listed are co-operating with the Agency to ensure the products are withdrawn.
Sudan I is a dye that should not be added to food and is banned in the UK and across the EU. Since July 2003 all chilli powder imported into the UK has to be certified free of Sudan I.
The FSA and local authorities randomly sample more than 1,000 consignments a year of imported chilli products.
However, this batch predates this sampling programme and was uncovered after sampling of Worcester sauce produced by Premier Foods and exported to Italy.
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