There’s so much on the internet about Jaipur already, I don’t have much to add.
We stayed at the Pearl Palace Heritage Hotel (which is separate from the Pearl Palace Hotel) and it was wonderful. Our room was interesting and fun, and the breakfast area was super quirky. There is no restaurant on the premises, so they offer free tuktuks to their sister hotel, the Pearl Palace Hotel, which has a restaurant. The restaurant there is amazing: very good inexpensive food and excellent thalis.
We wanted to spend some time with elephants while we were in Jaipur. We found an elephant sanctuary called Elefantastic, and we had a really great experience. It was a bit canned and the guy seemed preoccupied with our potential TripAdvisor review (which I never gave), but we enjoyed ourselves and M loved it, so we were happy.
We did all the normal stuff in Jaipur: the Hawa Mahal (much smaller than I thought it’d be), the Amber Fort (much larger than I thought it would be), the City Palace, etc.
Between our city guide and driver, we were well taken-care-of, and the guide did a good job of being understanding of the limits of sight-seeing with a 3-year-old. Jaipur is worth the trip!