At Goofy's Kitchen, we have always seen Goofy (obviously!), Chip and Dale. We almost always see Minnie. There is usually one princess, sometimes two. For example on our daughter's birthday last September Jasmine and Aurora were there along with Aladdin. We have also seen Alice, Genie, Max, Donald Duck, Captain Hook, Snow White and Belle. Not all at the same time.
Have never done Storytellers but I know that Chip and Dale are always there, not sure if other characters also appear.
Paradise Pier now has a Lilo and Stitch breakfast, not sure who else appears. When we did this breakfast it was a Minnie and Friends theme.
Ariel's Grotto is now called Cap'n Mickey's. Ariel no longer appears. When we did Cap'n Mickeys in December we saw in one night: Mickey, Minnie, Goofy, Pluto, Max, Donald Duck and Stitch.
Goofy's serves all three meals, Cap'n Mickey's serves lunch and dinner and Storytellers and PCH Grill (Paradise Pier Hotel) serve meals all day but have characters only at breakfast. One note, there is also a Princess Breakfast inside
Disneyland Park now at the Plaza Inn. We saw: Cinderella, Fairy Godmother, Belle, Beast, Mary Poppins and Snow White at that one in December. Enjoy all of your planning!