Well there are a number of paths you can go down:

Weight Watchers - some people swear by this, but it does cost

Calorie King - free. Able to track calories, weight etc. Food database, so you can check at what is any of the major foods.
Has weekly lessons about eating, portions sizes, the type of eater you are etc. Also has recipes. I am on there at the moment, but do admit that tracking calories does my head in, it is good though for working out where you are falling down eating wise.

Food Coach - free - able to track weight progress, has interesting articles plus recipes

Various health magazines - many at the supermarket magazine section these days. Not bad for what is the latest

It is a struggle to find what suits you and your family. For me, I need to keep the protein up and lower the white carbs, I am also at that point in life where I need to reduce portion sizes, so I use a small plate when I can. Wish I was able to get in as much walking as you do each day, so you have a great starting point there.