#1 - Storyteller's Cafe definitely has the best food, atmosphere and service. We have always had really great character interaction here too. I like that the characters are more rare, but some people want to see the characters they are more familiar with, so if you want to see popular characters this might not be the breakfast for you.
#2 - PCH Grill is good too, we had very good character interaction, but the food is not quite as plentiful as at Storyteller's Cafe. It is good, and the restaurant was not even close to a quarter full while we were there, so that was nice, we got a lot of time with the characters.
#3 - Goofy's is not our favorite. The characters are the basics, but the place is always very crowded, so they don't have a lot of time to spend at each table. The food is decent, but not great - the selection is pretty good and the cupcakes are delicious even though they don't look like they will be! Service is a bit rushed and servers aren't quite as good probably because they are busier. Goofy's is very loud and crazy, the other two are much more low-key and relaxed.