The 1994 Catechism of the Catholic Church makes this statement explicitly.
Catechism Section 1085
In the Liturgy of the Church, it is principally his own Paschal mystery that Christ signifies and makes present. During his earthly life Jesus announced his Paschal mystery by his teachings and anticipated it by his actions. When his Hour comes, he lives out the unique event of history which does not pass away: Jesus dies, is buried, rises from the dead, and is seated at the right hand of the Father “once for all.” His Paschal mystery is a real event that occurred in our history, but it is unique: all other historical events happen once, and then they pass away, swallowed up in the past. The Paschal mystery of Christ, by contrast, cannot remain only in the past, because by his death he destroyed death, and all that Christ is – all that he did and suffered for all people – participates in the divine eternity, and so transcends all times while being made present in them all. The event of the Cross and Resurrection abides and draws everything toward life.
Catechism Section 1104
Christian liturgy not only recalls the events that saved us but actualizes them, makes them present. The Paschal mystery of Christ is celebrated, not repeated. It is the celebrations that are repeated, and in each celebration there is an outpouring of the Holy Spirit that makes the unique mystery present.
Roman Catholics take Jesus at His word: the bread is his body; the wine is his blood.
From the Apostles at the Last Supper until today, the bread and wine of Eucharist looks and feels and tastes like bread and wine in the eating and drinking.
Similar to all of God’s Word, faith is essential. Faith in what? In the words of Jesus even though the bread does not look, feel, taste like flesh; even though the wine does not look, feel, taste like blood.
Medieval philosophers and theologians sought simply to label this simple biblical faith: Jesus said that bread is his body and wine is his blood even though it did not appear to change into visible flesh and blood.
Transubstantiation means the substance part of the bread and wine elements changes; but the accidental parts–sight, taste, smell, touch–do not. Catholics believe that since Jesus said it and He is God, he can do it. They believe! “Transubstantiation” merely labels it.
In everyday life, it is not at all uncommon to believe in things man cannot perceive by the senses: wind, electricity, love, peace, etc. All the more when Jesus says it.