Solved, use array list of string to get name from Ingredients. Use below code:
JSONObject jsonObj = new JSONObject(jsonStr);
//extracting data array from json string
JSONArray ja_data = jsonObj.getJSONArray("data");
int length = ja_data.length();
//loop to get all json objects from data json array
for(int i=0; i<length; i++){
JSONObject jObj = ja_data.getJSONObject(i);
Toast.makeText(this, jObj.getString("Name"), Toast.LENGTH_LONG).show();
// getting inner array Ingredients
JSONArray ja = jObj.getJSONArray("Ingredients");
int len = ja.length();
ArrayList<String> Ingredients_names = new ArrayList<>();
for(int j=0; j<len; j++){
JSONObject json = ja.getJSONObject(j);
Ingredients_names.add(json.getString("name"));
}
}