Minnie & Friends Breakfast is by far my favorite. I also love the atmosphere - the restaurant decor is very Disneyesque, and you can see the Castle What could be better than that???
I've only ever been with groups of all adults and the characters always spend a fair amount interacting with us. We've also met quite a few characters there: Minnie, the Fairy Godmother, Captain Hook, Chip & Dale, Eeyore, Peter Pan, Wendy, Tigger, Gepetto, and a few others who's names escape me at the moment.
I would suggest, though, that you ask to sit on the inside and to the left (closer to the castle).
Here's a photo of Gepetto sitting down w/us & trying on my friend's glasses (I've posted this pic on another thread, so some may have seen it before):
And this is Chip w/my DH2B:
I have LOTS more with them being silly, but I don't want to bore everyone! LOL
Goofy's Kitchen is fun, but I felt like it was really more kid oriented (which is fine and totally understandable)
Storyteller's Cafe was nice, but the selection is small - in food and characters. This was kind of boring.
We haven't done Lilo & Stitch or Ariel's yet.
I hope you have a great time whichever you decide on!
