Gamma G brings up a good point, you don't want a lot of variety, especially with picky eaters. An article I read recently in a parenting magazine recommended a set schedule for weekdays, leaving pancakes, omelettes and other "fancier" more time-consuming goods for the weekends when there's more time to prepare and eat. Monday/Wednesday/Friday it's cold cereal, milk and fruit. Tuesday is whole wheat mini bagels with a light spread of cream cheese or Nutella (not a lot of chocolate or caffeine as I'd feared) and milk, Thursdays it's whole wheat toast with a light spread and milk. You can vary up the cereals, there's different whole grain ones to choose from, so it's not always Cheerios.
I bought colorful plastic lidded bowls in the $1 section at Target, the last one has the Very Hungry Caterpillar pictured, that open up on one side so a child can feed themself while minimizing spills. Fill them up with cereal the night before and set them on the counter, add a sippy or sports bottle of milk in the morning and breakfast is ready and can be eaten in the car if necessary.
Also, start offering fruit twice a day, a slice is enough. They may not eat it but will get used to it on their plates. And when they see it and others eating it they'll eventually start eating it. My guy's preschool has the rule they have to have all foods on their plates, they're encouraged to at least taste everything. My guy (3.5) had NEVER eaten bananas in his life, even strained/pureed, because of the texture, he'd spit them out immediately. The first day of school he tried a small piece, made a face, but ate the piece in his mouth. Since then he's eaten it again, teacher says he looks around and sees others eating it so knows it's OK :) I'm glad because I'm allergic to them and feared he was, too. Small steps but he's getting less picky, yay! Hiding fruits and veggies has gotten old, can you tell? :D