The Dane (all locations) is a great staple in Madison that never disappoints. For the food, the Inner Warmth Peanut Stew is a very tasty and filling entree that lives up to the title's promise. If you like peanut, I also recommend the soba noodle and tuna salad.
If you really like to have a great brunch buffet to indulge yourself in on a Sunday, theirs is the best I have ever been to and I definitely recommend going with friends (expect to want a nap afterward, though).
Also, at least at the Fitchburg location, you can sit at a table that has its own taps that you can just pay for your beer after it adds up the ounces you poured yourself - SUCH a great idea!
The Dane is a brewpub, but it's noise level is definitely family friendly and includes a great mix of a sports bar ambiance with areas of more intimacy.