On the first night of camping, my family always demands baked beans and vegi-dogs. We call our vegetarian version weens and beanies.

I usually bring a garlic bread loaf (the kind in the foil packages you can put right over the embers.
One item that is good anytime, especially when hiking or swimming and you get the major munchies, is peanuts and raisins. I've taken to using a pound each in a large baggie. We take about five big baggies for camping to make sure they're is enough!