We just got back and at the counter service restaurants, the only dessert option for the kids was a pre-packaged cookie. They got that and one side (usually a choice of grapes, applesauce, or carrots).
At the table service restaurants, the kids meals usually came with an ice cream sundae or a yogurt parfait (spoonful of yogurt with some fruit and a bit of granola). They were never allowed to choose any adult dessert anywhere we went, so we usually shared our desserts with them.