Whenever a friend visit Madison I bring them to Graze.
It is cheap (for the quality), nice ambience, great food, and it screams Madison in all his flavors.
I usually start off with one of their Wisconsin cheese selections for the table; these are not your average cheeses. I then often get either their signature burger or their chicken and waffle, my wife likes the bibimbap. But really, all their menu is nice.
Their beers are also a treat!