What do you eat? Why can't they eat what you do?
Fix meals, turkey meatloaf, pizza (homeade and have your five year old help), small cut up pieces of soft meats like chicken or turkey? Healthy fish sticks? Canned veggies offer very little nutrition, get frozen ones and cook them until soft or steam them to get the full benefit.
Try brocolli/rice, they have them premade in the frozen section, my kids love that!
For lunches give them cut up into smaller pieces of turkey and cheese sandwiches, grilled cheese, hard boiled eggs.
My daughter was only 16lbs on her first bday and has always been petite even at 7 years of age. Offering her healthy choices and more flavor into her diet will help her be less picky and encourage her to eat what you do.
Even my kids love baked salmon.
Get the jarred versions of Gerber Graduates too of cut up carrots, green beans, soft fruits that are already cubed on the go for your 10 mos old. The meatsticks are good in the Gerber Graduates.