I think many people assume that healthy meals are more complicated when the reality is that the simpler the meal, the better. Some of the healthiest meals my family eats are a protein like chicken, fish or lean pork, a healthy starch like sweet potatoes, brown/wild rice or wheat pasta (rice and pasta can have added butter and parm cheese), a good size serving of veggies and my kids always have fruit, too.
Many meals that are assumed to be unhealthy can actually be very healthy, balanced, kid friendly meals, some of my kids' favorites:
Tacos, like Cookie said, with salad veggies and black beans on the side
Pizza, with a fresh whole wheat crust with mozzarella and healthy toppings, my kids love sliced chicken sausage
Spaghetti, with sauteed veggies and grated zucchini added to the sauce and turkey meatballs or sliced chicken sausage, use high fiber or wheat pasta
Turkey/salmon burgers on wheat sourdough bread with sweet potato fries and salad
