In reply to Tommy Harris:
I have only used the fisherman's steps descent, terrifying but stable, and the roped descent, less terrifying but also less stable. Nether would be suitable for kids, fisherman's steps not suitable for dogs.
There is a 3rd option, walking further north then boulder hopping to the cliff. This is supposed to be more friendly but I have no experience.
Better options might be the boulders accessed from the North of St Bees beach, tidal approach iirc or fleswick Bay if the shingle is in, things can be rather scary if it is out.
Both beaches good for kids, St Bees sandy, fleswick pebbles.