Unsure of your routine but could you tweak all the meals so that they are having food before milk? That way you might find they eat more instead of it all ending up on the floor!
At 10 months mine was on about 3/4 bf feeds a day with 3 meals and snacks in-between. She would eat whatever we eat.
Breakfast - porridge, toast, eggy bread, pancakes, cereal. All with a side of fruit.
Lunch - usually a sandwich, with baby veggie sticks, cucumber, tomato, cheese sticks, fruit etc unless we have leftovers from dinner to eat
Dinner- big range of things including curry, shepherd's pie, pasta, chicken dinner, sausages. Whatever we fancy really! She will have a yoghurt for pudding usually as well.
She eats mainly with her hands but I spoon feed yoghurts. All our meals I try and limit salt intake as much as possible but other than that I let her try whatever we have.
Have fun experimenting and try not to stress too much, as long as your babies are healthy and putting on weight then you're doing a good job!