They will eat raw them dipped in a little bit of ranch. We try not to over use the dressing. They really like salad. I avoid iceberg lettuce like the plague, it's tasteless and nutritionless, so we do the fancy lettuce mixes (roman/spinach/arugula...)
I also make them roasted, steamed, sauteed... usually with a little bit of olive oil, sometimes garlic, salt and pepper and a tiny amount of butter. Roasted ones I add some rosemary. Enough to flavor them but not to cover the taste.
Of course in sauces too, and if we make a yummy fruit smoothie, we'll add in a carrot or tomato or something as well.
They LOVE fruit. After school snacks they can have a cheese stick and/or fruit. If you don't have other junky foods around, and those are the only options available, than they will give in.
As for sensory issues, I had major sensory issues with food, to the point where I was hospitalized for an eating disorder. That's why I take it so seriously now. My kids aren't traumatized and not really forced, just given options and they choose to eat the veggies/fruit in order to get the other goodies available. For the sensory issue thing, while I know it is valid, it can often become an excuse/crutch... they will claim that on most things healthy, but somehow, junk food and things like pizza/hamburgers... they don't have issues on? I know some things will be hard, if it's stringy or whatever (I still have a hard time eating oranges, so I carve them really well), so you just have to find what words.
But they also HAVE to eat their veggies. They must eat them or no more fruit, no more bread, no more chicken, no dessert... They whine at first, then in a little bit they are asking for seconds. It's a habit you have to establish.