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In this restaurant, a couple of 20-something parents are managing their four kids, aged 2-7, with patience, grace, good humor, and gentle discipline. They're my new heroes. I wish there was a non-awkward way to say 'good job', but there isn't, so here I am tweeting about it.
PS if I wasn't such an introvert, I probably would have said 'good job; your kids are so well-behaved, they're a credit to you' . Extroverts, the burden is on you to publicly support pronatalism & effective parenting. 
It is not awkward to go to someone and congratulate for what they do. Problem is these aren't the people we need to convince of anything.
It can be for the person trying to do it
Me and my four brothers were little shits at home but very well behaved for our parents when out in public... We often had people compliment our parents when out for meals.
You could always write a note and send it along with the staff. Or even better send along with a drink or dessert. Sure it would come with a cost but potentially a larger impact as well.
Praise the kids on their manners.
You could have said something like “you are managing your kids with patience, grace, good humor, and gentle discipline. You’re my new heroes.”
Truth
Next time cover their bill. Have the waiter tell them good job.
You can practice doing it yourself.
Practice makes perfect.
You can do it! Have done this several times in life. And a few time seven been the recipient of such sentiments, although usually not!
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