I think most Disney restaurants are going to be places people at least sometimes take kids, although when you go and where you go I'm sure that varies.
Dining at a Disney resort for lunch is a good option because no park ticket required and they will be less crowded with most folks at the parks during the day. Disney Springs is another good option. There are so many places to pick from! Even some in the Boardwalk area. Not sure if they would want to purchase a park ticket just to get to a restaurant - maybe I'm misunderstanding that though!
Saana at Animal Kingdom Lodge is the first thing that comes to mind. They can see all the animals while they eat, I hear the bread service alone is worth a visit too!
Raglan Road at Disney Springs is another place that seems to come highly rated for food and atmosphere. Or Chef Art Smith's Homecomin'.
There are lots of signature options of course but that is what I could think of in the mid price range territory!