You can always spring for a taxi. Finding one with one carseat is easy, if you need two carseats though you may be out of luck. Aska CM where to go to grab a taxi, if you like. (Obviously, if you have a car, that would be a good time to use it.)
From CR, Disney folks tell guests to take the two monorails to get to Epcot. If you are near the back gate of Epcot you could try taking the BC or Bwk bus, but it will take a good ten minutes to walk to BC from Epcot, and then another solid ten minutes to walk from the MK bus stop up to the restaurant.
Coming from CR - you only need to go one stop on the monorail. Going the reverse, CR is the fourth stop, so it takes quite a bit longer.
You could also take the first monorail to the TTC, then grab a taxi at the TTC- that would be a short, direct ride. probably slightly faster thanthe monorail, but not more than 15 minutes less.Probably only costs a few $ though.
You could take a bus from Epcot to WL and then take the boat to CR (or the bus from WL to MK) but I don't think it would be much faster. Geting the WL to MK bus is pretty easy, but then you'd still have to walk. At least the monorail drops you off right inside CR. The Wl to CR boat first stops at Ft. Wilderness and then drops you off on the back dock of CR. It is a pretty ride, but probably not a whole lot faster than the other way.
Part of the answer depends on timing. Buses can be 25 minutes apart.Usualy monorails run about every 15 minutes or so. By me experience, resort monorails run about every five minutes unless you hit it during a shift change.