A lot of it depends on your kids food likes, of course. My daughter would eat oysters or mussels at every meal if she could, so we tend to stick to a lot of seafood places. Any preferences or neighborhoods you are interested in? I agree with the Chow/Park Chow recommendation though I would go with Park Chow because it is easy ½ blocks walk into Golden Gate Park. The Macys at Union Square has a Cheesecake Factory if you’re looking for something near your hotel and if that is the kind of thing your kids like. Also, about two blocks up Powell Street from Union Square is Uncle Vito’s pizza, which is a decent place to sit and have a casual meal. Taylor’s Refresher in the Ferry Building (where the great Farmer’s Market is) has a big outdoor patio and a great people-watching atmosphere and has burgers, sandwiches, salads, etc. If you are at Union Square you can take the cable car all the way to the Wharf which has lots of places that kids would like and is a fun trip. I’d also suggest taking public transit as much as possible, you’ll probably get where you are going faster and with less stress!