Not what you're asking for (!) but I often take non-Spanish folks for a stand-up seafood experience at the bar in the Atarazanas market (open Saturdays), followed by coffee and cake opposite at La Canasta (lots of space upstairs). It's a nice "gently" Spanish experience without having to worry too much about what the menu means.
The other LOVELY places are Pimpi, opposite the Alcazabar, and also the famous bull-burguer at Manzanilla, but those are more pricy.
I used to always go for the Menu del Día at the not-very-cleverly-named "Cafe-Tapas" on Alameda Central, roughly opposite the bookshop. Used to be excellent. Still good value at about €7 but last week my calamaritos were overdone and fried to a crisp. Don't know if that was a one-off.
Anyway I shall look out for other answers as I need to broaden my list of good lunches in Málaga!