We've been to 35 countries and countless cities with our kids. There are 4 cities we'd bring them back to.

My husband and I have been traveling internationally with our boys since they were each 10 months old.

Now, they're 9 and 11 — and together, we've visited 35 countries and countless cities. Our favorites tend to have a few things in common: great food, fewer crowds, rich culture, and plenty of things to do as a family.

If you are looking to travel with kids and venture beyond the usual tourist hot spots, there are four cities I'd wholeheartedly recommend.

I believe that even the pickiest eaters will love Lyon's delicious pastries (especially brioche aux pralines roses, a buttery pastry studded with candied pink nuts) and shockingly affordable Michelin-level dining.

We had one of the best meals of our lives at Brocoli: The five-course vegetarian tasting menu was only 40 euros per person.

As much as we loved eating our way through Lyon, the city itself was just as much fun to explore. Old Lyon is beautiful and has a hidden network of covered passageways called traboules.

These passageways cut through Old Lyon's buildings, shops, and courtyards. We spent an afternoon knocking on random doors and cheering every time one opened up into a secret shortcut, quickly turning a walk into a full-blown scavenger hunt.

The Cinema and Miniature Museum was another highlight, with a massive collection of original movie props from blockbusters like "Batman," "Star Wars," and more. Standing inches away from the original Batmobile was definitely a core memory for my boys!

Beyond Lyon, an easy day trip to the beautiful Lake Annecy gave us a welcome break from the July heat. We rented a boat, swam in the sparkling blue lake, and made it back to Lyon in time for yet another delicious dinner.

If your kids love pasta, pizza, and gelato, Italy is an obvious choice. Rome, Florence, and Venice are popular with families, but I'd suggest skipping those hot spots for their less famous, equally impressive cousin: Turin.

Turin has excellent food, beautiful piazzas, and enough desserts to satisfy any kid.

Plus, it's home to several cool museums and attractions, including the historic Egyptian Museum. The kids were fascinated by rooms full of mummies, sarcophagi, and ancient everyday objects that offered a glimpse of life thousands of years ago.