Strongly recommend the following two in Burlingame:
STACKS'
http://www.stacksrestaurant.com/home.html
Copenhagen bakery
http://www.copenhagenbakery.com
Both open fairly early and there should not be any wait at that time. Plus they are very close to each other so if one is busy just walk to the other.
Cab from SFO should be around $10-15, Burlingame trolley may be an option on the way back.