
loki's mum is right about crosses and the fact that they are a total gamble, but tooolz is also right about the great dogs a rescue can make. the way to avoid the problems of an unknown quantity in a cross is to pick an older rescue who you can get some history on.
in which case you will know exactly what you are getting which is impossible with any pup (though far far easier with a breed)
if you decide against a rescue, and there are various reasons to especially when you have cats and kids, there are loads and loads of breeds that fit your description. now medium sized is a fairly loose guide lol, a toy breed person might feel anything bigger than calf height is medium- i'm a big dog person so i think around the knee of a man?
in which case there are LOADS depending on what you like- the basset hound for example is small/medium height but big built,
http://www.thekennelclub.org.uk/item/14the australian cattle dog is an interesting choice,
http://www.thekennelclub.org.uk/item/122 a smooth collie maybe?
http://www.thekennelclub.org.uk/cgi-bin/item.cgi?id=133 or if you like the look maybe a bulldog?
http://www.thekennelclub.org.uk/cgi-bin/item.cgi?id=133though actually re-reading your requirements one breed jumps out- a staffie. medium sized, very eager to please and thus trainable (alas not so often seen), i believe not big barkers and love love love kids (provided the kids are well trained as with any dog)- one of only two breeds where the standard says good with kids
http://www.thekennelclub.org.uk/item/87