Goofy's is my favorite. The food is really good with a lot of choices. We prefer breakfast to the dinner menu though.
As for characters, they do come around to the tables, but if you don't show any interest, they will usually pass on by. I say usually because sometimes you'll get a CM who will totally stay in character and totally bug the teens. Goofy and Donald are notorious for this.
I haven't tried the Lilo and Stitch breakfast so can't comment on that. But will not be going back any time soon to the Princess breakfast or Chef Mickey's. The only other one is Storyteller's, which I've heard good things about, so may try it next. I've been told that the characters do not come around to the table at this one, you go and visit them, so this may be a good choice for you.