Though all beaches are good there yet I would prefer Colva beach being less crowded and so more clean among others. So a beautiful calming place to enjoy the family time. Fun fact is that the famous resort that become the house of actors in Golmaal movie is also on this beach.
Goa is full of amazing beaches. If you want to go for fun activities, you can go for Goa tour packages offering Baga Beach, candolim beach or calangute beach. If you want to try something other than water sports, you can consider Benaulim beach or Colva beach. https://www.tripoto.com/goa/tour-packages
Baga Beach, Candolim Beach for watersports, Calangute Beach, Vagator Beach and Colva Beach will be some of the best beaches for family Https://www.tripoto.com/goa/tour-packages