Well, lately I've gotten into the habit of making a healthy smoothie, frozen fruit "ice cream," parfait, or some other similar concoction when the dessert desires occur. But the trick is to make the kids think it's a treat.
Presentation is everything (in fact, that goes for almost any cooking for kids). I have my various methods of presentation. I have fansical (that's a word, right?) dessert and parfait glasses. I have super special glass straws. I have a blender that will blend most anything until it no longer resembles its former self (eg. kale).
On this particular occasion, I blended equal parts yogurt, soft tofu, frozen strawberries, a squeeze of lemon and some agave nectar until smooth. I poured it into parfait glasses and topped it with a hemp granola. Voila, dessert!