I can't drive and refuse to go shopping with DP as it causes too many arguments. We also have a BLW 8mo! I tend to do our weekly shopping with Tesco online, I know it costs for delivery but I always order a few days in advance so that it keeps it down, usually it's about £3.50 which is definitely worth it for the money and stress we save (by not impulse-buying, mainly, but also being able to compare brands, special offers etc)
I meal-plan as I do the shop. I first go onto the website and book my delivery slot, then my first port of call is the special offers section, I see what there is on offer and plan around that (I have a list of meals which I add to every time we try something new and like it, also a list of stuff to try which is recipes etc I find) Then I go round each section for the other ingredients of the meals, and finally non-food things and storecupboard items. I don't really mealplan for lunches, I just have a list (again!) with lots of different lunch ideas and I make sure I have enough e.g. eggs, tins etc to make lunch a few times.
You can also have a different approach - do a big online shop once a month to stock up your storecupboard. This is all the non-perishable things like tins, pasta (we buy pasta in huge bulk bags), flour, drinks, frozen things (including buying fresh meat/poultry to freeze) as well as heavy non-food items like washing powder, nappies etc. Then each week all you have to buy is meat/fish, eggs, dairy, bread, veg etc - less to carry and you can make a few short trips a week if you want to keep everything nice and fresh. I keep meaning to do this instead of how we shop now as I think it would encourage me to shop at local shops etc more.
Also, always make bigger proportions than you need, if the meal is freezable (e.g. spaghetti bolognese) - if the meal isn't freezable (shepherd's pie?) see if there is anything you can cook extra of (mince with onions & garlic is a good staple) that you can then freeze to use as a base for another meal when you're pushed for time/tired. And start serving up smaller portions, but have seconds if you are still hungry. With the extras saved in the freezer you always have an alternative on nights you can't face cooking (also, you might want to deliberately meal-plan in a couple of "lazy cooking" nights a week so you don't end up with wasted food if you don't eat it) - a couple more tips on not wasting food, go through the fridge every day (when you are cooking dinner is a good time) and take note of the dates/condition of the food, for snacks remind your family that the yoghurts (or whatever) need eating by X date, for things that need to be cooked as a dinner plan the next few days (ie the chicken needs to be cooked by friday, the mince by thursday, so we'd better have the mince tomorrow, etc) - if you have food too close to it's date and not enough time to eat it, freeze it now before you forget. Leftovers can be kept and frozen/chilled as a spare meal for your DD if you are having something unsuitable, or used in e.g. an omelette. For your DD don't worry if things are mixed together (e.g. chili and rice) or have ketchup/gravy on them - she won't mind eating them cold/reheated, and a tiny bit of ketchup won't harm her.
Start with a high budget (£75?) and aim to bring it down. If you are doing the once-monthly online storecupboard restock, it's probably best to have a monthly budget - say start with £325, if £75 was your weekly bill and spend £150 on storecupboard things, leaving you around £40 a week to spend on fresh food, which should be plenty.
Sorry have rambled - Of course I must admit, this is all my very well-thought out intention but we spend far more than we should do and I am useless at remembering to follow my own advice! It would work though, if you stuck to it, and we'd be eating a lot better too.