When our children were young, we always stayed at the Kamaole Sands, more southern portion of Kihei.
http://www.tripadvisor.ca/Hotel_Revi...ui_Hawaii.html
Large property, 1, 2, and 3 bedroom condos, pool, across from the third public beach, no restaurant on site though.
You can rent privately from some owners.
http://www.kamaolesands.net/
And on VRBO
http://www.vrbo.com/vacation-rentals.../kamaole-sands