Since you're on the monorail, you'll actually have a lot of choices because the monorail resorts have multiple restaurant options, and so do Magic Kingdom & Epcot.
Crystal Palace (Pooh characters!) at the MK is great for breakfast, lunch or dinner - very family-oriented & we like the food every time we've been there. The Plaza is another table service restaurant in the MK - more casual menu (sandwiches & such)
For a more adult-feel, but kids still welcome, try The Wave at the Contemporary resort.
Besides the 1900 Park Fare character buffet, also at the Grand Floridian is the Grand Floridian Cafe...lot of selections there at this menu restaurant, and not too stuffy for kids.
At Epcot, for counter service, we really like Sunshine Seasons in the Land building -- many, many made to order choices (more than the usual burger/fries for counter service.) Also love the shwarma platter at Tangierine Cafe, Morocco. And of course, tons of table service restaurants at Epcot.