We've always stayed at Los Palomas and always had a good time. Very family friendly, you get access to both resorts, great pools, bars, and always felt very safe. 95% of the people you'll run into that aren't employees or vendors are from Phoenix & Tucson. So aside from the border crossing and when you leave the condo/resort areas, you never truly feel like you're in another country, which probably is the best introduction to "real" Mexico. Also can't comment much on restaurants, I've been four or five times but always stop by a supermarket in town and buy all of our food & booze to save some extra money just cooking at the condo.
A few years back a buddy and I went to town and found one of the vendors for a charter fishing trip, at first, it was very sketchy having us show up one place, drive to another, etc. but we ended up having a great time and caught about 20 fish each that the guide filleted and cleaned up for us on the boat and we came back with plenty of food. I don't know if I would recommend THAT process for a family, we were to young dudes and never felt unsafe so we went ahead with it. You'd probably be safer going with the more well advertised companies that have websites.
