David sent word

This means that he sent a messenger to speak to Tamar. AT: "David sent a messenger" (See: rc://en/ta/man/translate/figs-metonymy)

dough

a thick mixture of flour and liquid used for baking

used her hands to mix the dough

This means that Tamar made the bread in front of him. AT: "in front of him" or "in his presence" (See: rc://en/ta/man/translate/figs-idiom)

To "go out from someone" means to leave them. AT: "So everyone left him" (See: rc://en/ta/man/translate/figs-idiom)