We are already at the point where we could put it on shelves at the store, we're just waiting on regulatory bodies. The next big issue will be to make it cheaper. The first lab grown burger was $325,000 in 2013 dollars. Nowadays, it costs a little under $10.
Eventually, the cost of production will get lower and lower to the point is drastically cheaper than naturally raised meat. The difference in environmental impact right now is staggering. The environmental cost of beef is pretty bad, but the environmental cost of lab-grown meat is negligible.