We used to camp a lot, and DH was a Boy Scout Master. He found the boys were delighted to cook their food in hot ashes. He had them clean fish, etc, season it, wrap it in the biggest leaves they could find (he was a nurseryman so knew what was edible) then wrapped it in thick mud and put it under the ashes in a pit. Then they could talk a while till dinner was ready, soup from scratch on the fire signaled the underground stuff was ready. The main reason was to teach them wilderness survival.
Of course the old favorite was S'Mores, and pancakes rich with dried fruit and maple syrup and butter will always be remembered. Real perked coffee, the odor is lovely.
Kids also love the sun ovens, which are bright tin pieces that reflect the sun onto food. We even did a rather good job putting cookie dough in pans on the dashboard of the car sitting in the sun!!!! You'd be surprised at how hot a car can get in the sun.
The cookies took far longer to bake...but boys will eat anything when tired and hungry, especially if THEY have done the cooking!!