"Do you want rice with chicken?"
Translation:Kamu mau nasi dengan ayam?
2nd person singular pronoun is kamu
2nd person plural pronoun is kalian
Since 'you' are both used for the 2nd person singular and plural pronouns, then you can use both. Also it should be "apakah kamu/kalian ingin/mau nasi dengan ayam?." For structuring a question sentence, you need to use 'apakah' for the standard question with "yes/no" answer. This is the standard form for bahasa btw.