My children have dairy allergies as well, plus I am breastfeeding our son and currently dairy free myself (due to the family history).
I don't have any recipes to send off the top of my head., but here are a few easy to find products that you can substitute in recipes fairly easily:
Fleischman's no-salt margerine is dairy free. It works great in cookie recipes, isn't bad used when frying potatoes or noodles - I just add a little salt.
Fleischman's light spreadable margerine is dairy free and tastes good on toast, etc.
Peanute butter is actuallay dairy free. For a long time, I assumed it had dairy in it and didn't give it to my kids until I decided to read the label one day and realized it actually does not contain any dairy. (assuming no one has the peanut allergy).
Bisquick Pancake mix is dairy free (I either use soy milk or apple juice to substitute for the milk that is recommended) I don't know if it's wheat free though.
There are some excellent baking mixes carried at Giant Eagle in the health food aisle by Cherry Hill Farms that are all dairy free (and free of most other major allergens - peanutes, wheat, gluten). They also make a pancake mix that is wheat free. It's not bad, but I prefer the bisquick mix myself. My kids like either though.
You have to watch both the soy cheeses and the soy yogurts. The O'Soy brand yogurt does contain dairy. When I started using it five years ago, it did not, but my husband recently re-read the label and we realized that it now has milk in it (which I found to be quite annoying - what's the point of making a soy yogurt if you are going to include dairy?)
I've also substituted water for milk in some recipes (like cakes or frosting) and the things I've made turned out just fine. Tofetti makes some good dairy free products that my kids like - the cutie pie ice cream sandwiches taste pretty much like real ice cream. The cream cheese isn't bad to use in a recipe, but I don't like it much to just eat it straight.
Quaker Brand Oatmeal to Go Breakast snacks are dairy free. Most granola bars contain some dairy. The only ones I've found that don't are by Cascadian and can be found in the Health food section at Giant Eagle.
The Steamfresh vegetables that you microwave in the bag are excellent without adding any butter or sauce (if your kids are used to eating butter on their vegetables.)
Plain Pasta is pretty much dairy free. I've never found a box of pasta that had dairy in it. (Pasta mixes you'd have to read the label - those Rice mixes usually have dairy in them too)
Chicken Buillon and Beef Buillon cubes have dairy, but there is a soup base that you can find in the same aisle - I forget the brand - that does not contain dairy in the chicken or beef flavors. I use it in a lot of recipes with rice or to make broth with noodles.
Cereals that don't contain dairy include Cheerios, Lucky Charms, Cocoa Puffs, Honeycombs, Trix, Fruity Pebbles, Cookie Crisp, Life, and Cinnamon Toast Crunch. (I'm sure there are others too, but those are the one's I've found that my kids like.) You really have to read labels carefully because a lot of foods contain some dairy.
Hope this helps.
I am a working Mom of a six year old daughter, a 3 1/2 year old daughter, and a seven month old infant.