At fine restaurants, most waiters make well above minimum wage. They have health insurance, retirement, and other benefits. However in most small restaurants as well many chains, it's usually minimum wage, maybe a bit more and limited benefits.
The current minimum wage makes it almost impossible for many parents to work. The average cost of child care is usually at or above minimum wage. Where I live, minimum wage is $9.30/hr and the average cost of childcare is above $10/hr. In my area if you have two kids, then child care is going to cost you $12 to $15/hr, so if you can't get well above minimum wage, then you can't support your family without assistance. However, a higher minimum wage, say $15/hr would push the cost of child care up so the parent would still have the same problem.