Here is my list of current edible free sample offers. All offers come directly from the company that manufactures the product unless otherwise mentioned.
Silk Soymilk – print a coupon for $2.25 off
Kashi Snack Drive (no longer available) – pick your free sample of a cookie, crackers, or granola bar from Kashi
Dunkin Donuts Coffee
CoffeeMate Coffee Creamer (no longer available) – get a coupon for a free full-size bottle of liquid coffee creamer
Nestle Crunch Crisp Bar – get a coupon by mail for this new candy bar, giving out a limited number each day so try this one first thing in the morning
Simply Nutrilite Nutrition Bar – choose from Chocolate Crisp or Cherry Almond
Honey Bunches of Oats – there is a daily limit to how many samples they give out, so try this one first thing in the morning
Fiber One Cereal (no longer available) – sign up for the eatbetteramerica e-newsletter to receive this sample
True Lemon – a crystallized lemon substitute with no calories and no sweeteners you can request this free sample and you will also get a coupon
NutraSweet
Coca-Cola – sign up for Coke Rewards and get a coupon by mail for a free 20 oz. product
Dr. Pepper at Chick-fil-A (no longer available) – enter their sweepstakes and you will receive a coupon in the mail for a free large Dr. Pepper at Chick-fil-A
Senseo – you can get a free Senseo coffee machine, although you do need to pay $15 shipping & handling. I did this offer and think it was well worth it to get this new single-serve coffee machine to try.