You need CROSS APPLY not join.
The definition of table expressions involved in joins must be stable. I.e. They can't be correlated such that the table expression means something different dependant on the value of a row in another table.
select f.ID, f.Desc, u.Field1, u.Field2
from Foo f
Cross apply ut_FooFunc(f.ID, 1) u
where f.SomeCriterion = ...