Translation:Matěj is expecting a child with František's daughter.
Yes, this is clear. But can we take "with" in the meaning of "and"? This is more obvious in my second example sentences: "Matěj with František's daughter are expecting a child". At least in Russian both singular and plural cases looks normal. I just can only say that this forms is more pretty: "Matěj čeká dítě s Františkovou dcerou", "Matěj s Františkovou dcerou čekají dítě". But changing verb singular<->plural works in both cases works too. So you want to say that Czech is more strict here?