Most of the people I know with picky kids will tell you the picky-ness started in the very beginning with them rejecting babyfoods, so I have trouble believing it's the result of parenting. I think that some kids are very sensitive to food textures and tastes and some aren't -- it's how they're wired.
As for our house. I would say that my son is a little picky -- there's certainly a list of foods he won't eat, but to me the truly picky kids are the ones where there's a list of foods they will eat.
I make 1 meal, but I'm willing to flex on that a little -- for example, I'll make tacos and put all the fixing out for him to choose from, knowing he'll leave of the tomatoes and the lettuce. I'll make broiled salmon, baked potatoes and veggies and he'll eat the salmon, the veggies, and a slice of whole wheat bread. DS is also on the border of overweight, and it's important to me that he eat a fair amount of fruit and veggies at every lunch and dinner, so I'll make 2 veggies, one of which is on the short list that I know he likes (peas, green beans, cauliflower, broccoli, raw carrots) and one that I like. He'll usually eat a tiny taste of mine, and all of the other. Plus I serve fruit, which he loves, at every lunch and dinner. If the protein is something I know he won't touch I'll serve it with a lowfat yogurt drink (he doesn't like plain milk) instead of water.
For lunch I'm more likely to "short order". I pack his lunchbox with healthy things I know he likes -- e.g. he likes nonfat yogurt so there's one in there almost every day. If we're home on the weekend I'll say -- "I'm making sandwiches, what do you want on yours?" and may end up with turkey and havarti for me, ham and cheddar for him.