In Bayeaux I just wandered around. Everywhere looked kind of the same, geared toward tourists but not bad.
In Amboise, there is a line of restaurant/cafes on Place Michel Debre under the wall of the Chateau. It's a good selection and two of them are my favorites in the area. Sadly I couldn't tell you which two unless I was looking at them. There's another group of cafes in the small town center too but those didn't attract me, I can't remember why (prices? menus in English?)?
My impression in Beune was any decent restaurants will need a reservation. When you get to lodging have them reserve dinner at their favorite place. The restaurants that don't require reservations are truly terrible. I'm not really a reservation person but Beaune is one place I often wished I'd picked up a sandwich rather than paying for a bad dinner.
I've had one dinner in Colmar. It was close to the Schwendi fountain. I believe it was recommended in the Rick Steves guidebook. Unfortunately, I can't recall the name only the area. It was good, very German.