Like others have stated, you can not see the animals while you dine but there are 3 overlook areas at Jambo house you can go out to see the animals. One large one out from the main lobby and two out by the pool which you will see the doors to the right as you enter Boma. One goes out behind the pool and the other to the right.
Sanna is the only place to potentially view animals while you eat. They also have viewing areas around the resort although not as many as it is smaller. The animals roam free through the day so there is never a guarantee you will see them. They are taken in around 8 am each day for a quick health check and then re-released out about an hour/hour 1/2 later. So if you are thinking breakfast, time your viewing around that. Sanna is only quick service for breakfast.