The long legal battle between America’s Test Kitchen and Christopher Kimball, the company’s founder who left and started a similar cooking and media enterprise called Christopher Kimball’s Milk Street, is over.

Both sides have resolved their differences, which came to a head in October 2016 when America’s Test Kitchen sued Mr. Kimball and three of his closest associates. The suit accused them of creating a new venture that “literally and conceptually ripped off” America’s Test Kitchen, the Boston-based television, radio and publishing empire that Mr. Kimball helped create, in order to start a competitor. Milk Street , which debuted its magazine in 2016, also produces cooking instruction, cookbooks and other media, including a radio show hosted by Mr. Kimball.

“Mr. Kimball will return his ATK shares to the company for an undisclosed price,” both sides said in a joint statement released Thursday. “In addition, the parties have agreed to business terms that will allow America’s Test Kitchen and Mr. Kimball’s company, Christopher Kimball’s Milk Street, to coexist in the marketplace.”