We store lots of what we eat everyday, nothing special. Remember dry food usually requires a good supply of water to rehydrate.
I think this is the approach that makes the most sense. If you stock up on "survival food" that the family won't eat every day, you end up throwing a lot of it away after a couple of years. Buy extra cans of what you like, and as you eat them, rotate in new supplies.
On the beans and rice issue: these are staples in countries that don't have an abundance of cooking fuel. Efficient means to pre-soak and cook them have been mentioned already.
OK, I'm a little biased, because I have a weakness for red beans and rice, New Orleans style.
Frank2135