I've already had the chance to spend a Saturday afternoon last summer at the Pé pra Fora. The mood is very good, the bar is located very near to the Vila Madalena Subway Station and if you decide to go there, life will be easy. My personal advice goes to "Filé aperitivo com Catupiry" (around R$ 55). It comes on a hot grill that stays over the table. Put it together with cold beer and you'll feel the beat.
What: Pé pra Fora
Where: Avenida Pompéia, 2517 - São Paulo
When: Monday to Friday, from midday to 11 pm; Saturday, Sunday and Holiday, from midday till 7 pm.
Price: Around R$ 50 per person
Phone: +55 (11) 3672-4154