Other products, including yoghurts, breakfast cereals, fruit juices, bakery items and milk, are due for release next January.
All items will conform to specific nutritional guidelines that place limits on calories, fat, saturated fat, sugar and sodium. None of the products will contain artificial flavours, artificial colours or added trans fats.
This joint venture is part of The Walt Disney Company's focus on promoting healthier foods to children and Tesco's ongoing commitment to make it easier for its customers to live healthier lives.
Dan Dossa, director of Disney Consumer Products, food, health & beauty UK, said: "Disney Consumer Products is committed to giving parents food choices they can approve of, while at the same time exciting their kids.
"Today's announcement with Tesco marks an important milestone for our growing UK food business and we are delighted to work with the UK's leading retailer to make it easier for parents to get their kids to consume a more balanced diet."
The two companies have said they will work together to develop a number of new products over the next 12 months.
Kari Daniels, director of Tesco chilled foods, said: "We are determined to help our customers make healthier choices for their family. This relationship with Disney will offer parents an easy way to make healthier eating fun."