Here is another modest proposal. As Lee pointed out, there is a direct ICE train that does it in 1 1/2 hours and costs 166 EUR pp for a Flexpreis ticket. Other connections using ICE trains have a change in Cologne and take 2 to 2 1/2 hours and cost the same. The ICE trains run much of the way in the median of the autobahn between Frankfurt and Bonn and get up to 200 mph. You'll be passing Porsches like they're standing still. But the scenery is nothing to write home about.
If time is not really important to you, you have the option of taking all regional trains along the beautiful Rhine and its gorge. If you buy a Quer durchs Land ticket, you can travel and hop on and off as you like. You say "we" so there is at least 2 of you. The QdL (All Across the Country) ticket is priced at 44 EUR for the first person, and 8 EUR for each additional person, up to 5 people traveling together. It does take 4 1/2 hours to get to Aachen, but you can stop off in Cologne and see the Dom, then continue on. You just buy the ticket out of the vending machine at the airport train station, or pay an extra 2 EUR to buy from a human at the window. During weekdays, you must travel after 9 am, but even if you land at 7 am, by the time you clear immigration and get your luggage, that should be no problem. If you arrive on a weekend, it is even better, as there is no time restriction and it is a flat 44 EUR for 1 to 5 people traveling together. That is called a Schoenes Wochende (Beautiful Weekend) ticket. Remember, regional trains only. No ICE, IC, or EC trains.