Pinocchio Village Haus is a counter-service restaurant that has a half-dozen or so tables that overlook the loading/unloading area of It's a Small World. They are popular tables, but well worth it if you can get it. Most people wave back if waved to (from both the ride & the restaurant) - it's really nice and well in keeping with the theme of the ride. You don't see any of the ride though.
I'm not aware of any restaurant around/in/on Haunted Mansion.
Another restaurant with ride viewing is The Land at Epcot. The Garden Grill restaurant is a character meal and has quite good food. The entire seating area revolves s-l-o-w-l-y and you can look into the Living with the Land feature ride.
Another restaurant is in the Living Seas at Epcot. The restaurant is called Coral Reef, and I think it overlooks parts of the aquarium. Haven't eaten there, and Living Seas is closed right now, so it's not on our list any time soon.