CakePHP 3.x选择嵌套实体的表单

Trying to create a form selection input for an array of nested entities. I've achieved it this way "manually", but it doesn't feel very cakey.

<select name="restaurant_id" class="form-control" id="restauarnt-id">
  <option value="">Select Restaurant</option>
  <?php foreach($post->city->restaurants as $restauarnt): ?>
    <option value="<?= $restauarnt->id?>"><?= $restauarnt->name ?></option>
  <?php endforeach; ?>
</select>

Something like this feel more right:

$this->Form->input('restauarnt_id', ['options' => $post->city->restaurants, 'empty' => 'Select Restaurant', 'class' => 'form-control', 'label' => false]);

but that gives me:

<select name="restauarnt_id" class="form-control" id="restauarnt-id">    
    <option value="">Select Restaurant</option>
    <option value="0">{"id": 1, "city_id": 1, "name": "Some Place"}</option>
</select>

What's the best way to go about it?

(Cake Version 3.x)

in Controller add:

$restaurants = $this->Restaurants->find('list');

$this->set(compact('restaurants'));

In View

<?= $this->Form->input('restauarnt_id', ['type' => 'select', 'options' => $restaurants, 'empty' => __('Select Restaurant'), 'label' => false]) ?>

in Controller:

$restaurants = $this->[(whatever $post is)]->Cities->Restaurants->find('list'
    'keyField' => 'id',
    'valueField' => 'name'
);
$this->set(compact('restaurants'));

in View:

<?= $this->Form->input('retaurant_id', [
    'empty' => '--',
    'label' => 'Restaurants'
    ]); ?>