There are plenty of options depending on how professional a job you wanted or how original you wanted to keep it.
I would cut a new spline on some tough steel, then spline the pedal or use the stub to broach the foot pedal and then cut the old spline off and weld on the new piece.
If you didn’t want to cut of the stub you might try making a vee shaped graver and re-cut the splines but the problem is that the footrest has worn quite a lot of material away plus there will be an equal amount worn from the inside of the pedal. If you can relieve the slot some more so that it will clamp up tight on the stub, you might be able to drill and tap it over the end joint for a scotch key.
Or, since the foot rest is obviously fixed in poisition you could just clean it up, braze it on and paint it black. Keep the pinch bolt and no-oe will know.