Hi Mandy,
Menus are available on the Walt Disney World website for
some of the restaurants which participate in the Disney Dining Plan. If they are available, you will find them to the right hand side of the restaurants overview page underneath the 'Make a Reservation' box. (See
HERE for an example of this based on Artist Point which is located at Disney's Wilderness Lodge Resort.)
May I also suggest that you visit www.allears.net and then select 'Dining' followed by 'current menus with the prices' which contains menus for almost every dining location at Walt Disney World which I am sure you will find a fantastic resource.
HERE is the link to the 2011 Disney Dining Plan brochure which details all of the restaurants which participate in the plan.
I personally find that eating at buffet restaurants such as Chef Mickey's at
Disney's Contemporary Resort is the best approach to take when dealing with
picky eaters.
I hope that this information has been of help and wish you a magical trip!