Hello,
Everytime we go to Universal, we go to the Palm. And yes, they do offer a children's menu. This is their only location that does. The Palm is one of my children's favorite restaurants, they are 10 and 8 and have been going for quite a few years. They have been to the Boston and New York locations too. I don't know how well your children will sit at the table, but be prepared to be there for 1 1/2 - 2 hours. There have always been children there when we go. So Enjoy!!!