Bananas Babybel cheese banana muffins - make a batch up with half the recommended sugar when you have a load of overripe bananas, and freeze. On your way out, grab a frozen muffin. Will defrost in time to eat a couple of hours later (well, in the summer!) Yoghurt covered rasins (if old enough) Other dried fruit - I loved apples and pears as a child.
Goodies cereal bars Raisins Cheese strips or babybell - put in cooler part of bag next to water bottle normally so as not to melt or get too warm. Individual packaged biscuits - these are a real treat and used when going somewhere I need DS quiet or well behaved Satsuma or mandarin
It's not quite like giving Haribo though, dried fruit and yoghurt at least has some nutrients in, Haribo doesn't apart from boiled horse. I always feel like sugar, and to a certain extent salt, gets traded against the benefits of what they are eating.
Also malt loaf - you can get the banana one wrapped in individual bars. Yum and lactose free (last time I checked!).