The July issue of Saveur lists an ice cream place in St Paul as one of the best in the US. Do not remember the name at the moment, but I will try to find it, tho I know that seems to be out of your reach.
City Pages has some interesting listings that I tend to depend upon
http://www.citypages.com/restaurants/. I do not automatically accept their recommendations in all cases, but they give enough detail that I can tell whether the place would be of interest. There are a few places reviewed in recent months that might fill the bill, tho I am not sure exactly what you mean by kid places. My criteria was usually just a place where I would be comfortable if my kids were a little rowdy, as opposed to a place that serves bland, American-style food and caters to families. My kids tended to eat less than half their meals when they were the age of yours, so for reasons of economy, I fell into the habit of ordering less and eating from their plates, too. This quickly drove us to places where i thought anything on the menu would be acceptable to me. But since my kids are college-age, it has been a while.
I think you should try each and every one of the roasted chicken places in that CIty Pages piece, and report back in detail

Market BBQ was okay, not wonderful, but not bad. I reviewed it in a recent topic here:
http://www.lthforum.com/bb/viewtopic.php?p=37733#37733. There also was an interesting piece in City Pages on good places to eat in the Skyway(s) that sounded fun, but I did not have time to sample them.
d
Feeling (south) loopy