You could create a unique index with a coalesce on the MenuId:
CREATE UNIQUE INDEX
Favorites_UniqueFavorite ON Favorites
(UserId, COALESCE(MenuId, '00000000-0000-0000-0000-000000000000'), RecipeId);
You'd just need to pick a UUID for the COALESCE that will never occur in "real life". You'd probably never see a zero UUID in real life but you could add a CHECK constraint if you are paranoid (and since they really are out to get you...):
alter table Favorites
add constraint check
(MenuId <> '00000000-0000-0000-0000-000000000000')