Oh, I just realized I made a mistake! At synchronous speed the slip is zero (slip is equal to 1 at starting because the mechanical speed is zero).
Torque is produced by the Lorentz forces (due to moving charges in a magnetic field). In an induction motor, there are moving charges in the rotor because of the induced voltage. In addition, these moving charges are in a magnetic field produced by the stator.
In other words, first the stator produces a changing magnetic field which induces a voltage in the rotor. Then, Lorentz forces act on the stator because of the induced current running through it and because of the stator's magnetic field.