In my experience, it existed before in the form of tip jars (in NYC area), but really blew up when tablet point of sale systems like Clover came into the picture.
They earn a percent of the transaction, so adding a simple option to increase the amount of the transaction is a no brainer for increasing profits. And the act of actually having to press no tip is better at guilting people than simply being able to ignore a tip jar.
And then the point of sale providers got even more greedy and removed the no tip option, and started making it so users had to press “custom tip” in order to tip zero or otherwise increase the friction of not tipping.