Hale Kamaole is right across from Kamaole Beach 3 at the south end of Kihei. I've stayed there several times, and it's really nice for kids. Two swimming pools, tennis courts, and a couple of bbq pits. They have 1 and 2 bedroom units that are both very reasonably priced. You'd likely have to call them direct, as I don't believe you can book Hale Kamaole online anywhere.
A couple of complexes South of Hale Kamaole is Maui Sands, which was also great with a kid. A very nice pool, and a close walk to the beach. A little further than Hale Kamaole, but very nice units. Last time we were in Maui we had a huge two bedroom that was larger than my first appartment, and by borrowing some RCI points from our inlaws we paid only $500 for two weeks.
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