The short answer
For most families, yes. The tour is rated easy, with flat walking between stops, and runs privately for one to eight travellers, so the pace and the route flex around you. It starts around 18:00 and finishes around 21:45, so think about bedtimes, and tell us ages and any fussy eaters in advance.
In more detail
The walk is about three and a half hours through the medina, with six to eight tastings: bread from a communal oven, brochettes and merguez, harira, msemen, chebakia and almond briouats, mint tea and seasonal fruit, finishing at the food carts of Jemaa el-Fnaa. Children usually love the bread oven and the sweets stop, and the square at night is a show in itself.
Because it is private, the guide can adjust. For younger children, fewer savoury stops and more sweets, or a slower pace are all possible if you ask. If a child does not want sheep's head or snail soup, nobody minds.
The timing is the main thing to think about. The walk starts around 18:00 as the city cools and ends at about 21:45, which is late for small children. A carrier for a toddler makes the evening easier, since the lanes are crowded after dark.
Bottled water is included, and the guide picks busy, high-turnover stalls. Tell us about allergies in advance.