Restaurants will charge what people are able to pay. My office is on the third floor of a century-old parisian building, in the heart of the city. The street is filled with tiny restaurants, some of which serve these "healthy lunch bowls" that the US apparently lacks. Except they're 14€ here (without drinks or desserts), because people have the money to pay for it, and do so. You can relax zoning laws, but no one will price their bowls at $4 in the richest country on Earth, obviously.
I used to be able to get $3 breakfast and $5 lunch (ok, tipping rounds those up, but the base price is there) at nearly any Coney Island in the Detroit metro. It's not about richness or zoning, it's all about population density and disposable income. People in the US are poorer than we used to be, so restaurants only target the rich. US cities are remarkably fluffy and often less dense than suburbs in other countries. It's that simple.