I fed them the same as dh and I were eating from early on. Never really went down the nursery food route. I do not recall having chicken nuggets/fishfingers etc in the house they ate the same as us. Fruit and veg was offered daily. Desserts was not (and still now they are teenagers) a regular thing nor is yoghurts.
We do have sweets around and they have had of them fairly often. I never wanted it to be a matter of "this is nicer and I need to scoff it all now"..
Rather controversially I guess. I have never allowed the " I will eat toast/youghurt/dessert as I dont want whats for main course" If you cant eat the main you can't eat the perceived " nicer stuff"..
I have also within reason catered for genuine dislikes. DD 1 doesn't like mash potatoes. So when we have mash she gets boiled put aside. She doesn't like blended soups so I keep a non blended portion aside.
DD2 is vegetarian and has been for 4 years now. I will and do cater for that.
DS for many years was not keen on steak he would get a piece of Salmon if we had steak (not often)
DD3 doesn't care for tomatos as she has got older she has learned to tolerate them better but she is still not a big fan. She has always coped with them in a sauce but I still now at age 14 would not give her a salad with raw tomatoes in. For years she would not eat casseroles as she doesn't care for gravy. So if we were having casserole I would give her a couple of slices of bread with some of the meat.
However the whole " I dont like tubes of pasta only butterflies./ I only want carrots cut julienne not in circles.. " tough this is what is served today"
I will listen when you have genuine / regular issues. however if you simply do not fancy whats there and want something nicer.. not so much.
I have also from an very early age had the " what shall we have for dinner" conversations with the children so they know ok tonight it might be sausages and mash.. but tomorrow I will get the curry I wanted so much" type thing..