I give my 1 year old daughter what we eat usually, and I have for the past several months. I just need to mash it up sometimes. It's healthier and much cheaper. I RARELY buy babyfood of any kind.
Also, check out www.sistersavings.net The lady who created the website gets all the grocery ads and lists the specials for each store by category. It's free and I print the spreadsheets out and highlight which items I want to buy. I take the highlighted spreadsheet to Walmart with me because Walmart price matches, so I can get all the local deals at one store. It's a quick process. I like to go on Wednesdays because Sprouts has awesome produce sales and their ads overlap on Wednesdays, so both the next week and prior week's sales apply on Wednesdays and I get to price match both. For cheaper produce you can also do a co-op such as www.bountifulbaskets.org. I participated once and really enjoyed the experience, the food, and the prices so I plan on doing it again. The co-op also has other things besides produce that they go in on together like bread, cheese, granola, organic meat.
You can do coupons as well, but that is more time consuming. You can buy in bulk when things are on sale and freeze them. Even if it's not on sale, buying in bulk generally costs less.
Also shop only with a grocery list to reduce impulsive spending. Prepared and packaged foods are more expensive and generally less nutritious. Tracking spending helps dramatically as well. So maybe add up all the grocery receipts every month and keep track (it's sounds like you already did this to some extent, hence your desire to reduce your grocery bill). Measured progress improves. Use some of the good ideas these helpful moms are giving you along with some discipline (create a budget and stick to it) and you'll be on your way!