We have been to all of the character meals and these two are my favourites. You'll enjoy either one, but they are a bit different. Is your family more into breakfast foods or dinner? Goofy's will cost much more than Minnie's, but it's a great option on a non-park day. I really like to do Goofy's on arrival day if we're not going into the parks that day. I really like the food at Goofy's and the kids can make their own sundaes and the desserts are endless! However, I haven't been to Goofy's since they paired down their characters - they used to have two "face" characters there, but it sounds like they aren't doing that any more. If you do Goofy's, make sure that you arrive early. We have always had to wait in line for quite a while before being seated.
We always do Minnie's as a tradition, because we really enjoy it and it's convenient being right in the park. I like to book a 10:30am reservation so that we can hit ropedrop and get several rides in (depending on what time the park opens) and then we're ready for a break. We usually count this meal as lunch, have an icecream break at around 2pm or so and then have an early dinner.