WordNet sense 1 (prepare (someone) for a future role or function):

groom, train

WordNet sense 2 (prepare for eating by applying heat):

cook, fix, make, ready

WordNet sense 3 (arrange by systematic planning and united effort):

devise, machinate, organize, organise, get up

WordNet sense 4 (create by training and teaching):

develop, educate

WordNet sense 5 (make ready or suitable or equip in advance for a particular purpose or for some use, event, etc):

set, set up, gear up