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I grew up in Cold Spring in the 70's and 80's and it's a great place to live. I was on the outside of town where it used to be rather quite and my wife lived in the center of town where something is always going on. Most of our family still lives in or around the town so we try to get back to vist when we can. We moved south to Georgia about 8 years ago because it became too expensive to raise three kids unless you made a six figure income or owned a home.
Reading what I have I'd have to say your best bet would be Beacon, NY if you'd like to stay in the area. It's located in Dutchess county just a few miles down 9D from Cold Spring. I does have city schools, but two of my sisters live there and have both had or have children currently in the system and they're very happy with the results. There's a place near the Hudson River called Thompkins Terrace that uses an income based scale for apartment renals, this may be a good place to start. It's not far from the train station should you need to travel to the city for any reason, and within walking distance to most of the ammenities and shopping.
If you have any other questions feel free to ask, I'll do my best to get back to you on it.