We started out doing the weekend camper thing too - hot dogs, etc. but now appreciate cooking, as others have stated, very much like at home. Just like with regular cookbooks we only like about 1/10th of any given camping cookbook, so we just make the same foods in camp that we eat at home.
Dutch ovens allow you to do ~everything~ you can do at home, including baking bread, without having to carry a full residential style kitchen with you - and yes, I know, some people DO have a full kitchen, but not us :) Foil packs also work well since they become their own cooking container and you just ball it up when you're done cooking.
You can prep a lot of your food for shorter trips at home, pack it in Ziplock bags, toss it in a cooler full of ice, and then it's not a mess to handle and is half-ready to cook in camp whenever you want it. We've done pot pies, soups, stews, various Mexican and Italian dishes, all sorts of meats and veggies on the grill (over a wood fire is the BEST grilling), etc. this year, and will do more I'm sure as the year progresses. The only limit to what you can cook is your willingness to be open-minded about what's possible.