We all know Sherry loves the Goofy one best (love ya) .....

, but I disagree with her here.... I actually prefer Lilo and Stitch to Goofy.
1) Food quality is much higher. Also, it has the best mid range variety, which allows them to have higher quality.
Storyteller's - highest quality - lowest variety
Lilio & Stitch - high quality - mid variety
Goofy - mid quality - high variety
2) Character interaction - less characters, but more personalized attention. The restaurant is smaller, the cast is smaller, but they make the rounds much more frequently than Goofy's. You get Lilo. Stitch, Minnie, Pluto, and occasionally Daisy or Donald. They hula with the kids, conga, take photos in a set area - where you can take your own and they don't foist them on you.
3) Restaurant Atmosphere - this is where Lilo and Stitch takes a hit. No theming to the room, no visual excitement. The lack to extra walls and draping makes the place a bit noisy, but not in as bad a way as Goofy's. When they do the pots and pan activity at Goofy's, you can't hear yourself think. It's chaos. Storyteller's, wins the serenity award.
Finally...
My biggest pet peeve about Goofy's is how they handle the whole photo thing. you have to tell them to take a photo with your camera and then when you just get your food, they hover to try to get you to buy their photo. They also won't seat you without your entire party there to be taking the photo. Storyteller's doesn't even have a photopass set-up, adding to it's charm, and the Lilo and Stitch one is off tothe side and voluntary.
Hope that helps with some othr perspectives.