The Lone Star Cantina (aka Mr Joe's) is the only restaurant that meets your criteria. It's a fairly simple decent place to eat. Friendly owners, (who also own Pelican Reef) are their nearly every night along with local residents looking for a break from meal prep. Eventually there will be another restaurant, (Black Orchid?) but its a bit down the road construction wise and operationally.
In town, for upper end dining, I like Blue Water and Wild Mangoes for consistently good, interesting menu/fare and service. Also a hugely underrated and mentioned restaurant is Red Ginger. I dont care for Caliente,(I believe operated by the same group that runs Red Ginger and Bluewater but I could be worng). I found their service pleasant and good but the food was very so so for the price. Many folks like Elvi's Kitchen, I personally dont (but I'll give it another couple of tries), but that should not stop you from trying it if you're interested in their menu.
Some morning you will have to stop at Ms Sarah's (on the way into town) and try breakfast. She and her husband are the owner/operators of Caye Coffee, We love Sarah and her staff and never miss the opportunity to have at least a few breakfasts with her when we're down.
Lily's, Rojo, El Fogon,...the list goes on and on...There are a TON of small, inexpensive, hole in the wall owner operator restaurants like Secret Garden, all through town that we love to try. Some times are better than others, but its the joy of trying new places that often carries the day. You'll just have to explore for yourself. I will also add that I have never ever had an issue with the street vendors' food; if it looks good I'm all over it...