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The first two are older-but still have excellent info and ideas for people. The last two are current and also have a variety of food, treats, places, and ideas for people.
Maui restaurants are mostly very family friendly. The exceptions would be the high end ones, where meals easily cost $100.00 or more per person. Please be considerate of others if taking children to these, unless they enjoy the food at these places.
Don't forget that picnics on the beach are a great way to enjoy a sunset together! All the big grocery stores have delis in them, and offer a nice selection of pre-cooked food as well as sandwiches to order.