Is it better to try to remove or paint over formica on kitchen cabs?

You can have it "refaced" which is far less than removing and replacing. Painting them is an excellent option too. Just depends how much work you are willing to do and your budget.

what condition are the cabinets in?

I would paint them. If you get them refaced, you'd spend more money. I am not sure in Florida, but here it's less expensive to buy pre-fab, than it is to reface. Good luck!

Painting is easiest. Removing and replacing can be very expensive. Refacing they will just use more Formica over the old and also costly.

Make sure they are clean and dry. Remove the doors and hardware. Mark the doors and cabinets with tape where they go. Lightly sand the doors and cabinets to remove any gloss and roughen the surface for paint with 120- to 220-grit sandpaper. Use a tack cloth or damp rag to remove dust after sanding. Prime with a stain blocking primer like Zinsser 123, KILZ,or BIN and have it tinted to the color of the top coat. This will prevent dark or stained surfaces from showing through the top coat. Acrylic, or water-base, paints are low-fume and clean up easily with water. Alkyd, or oil-base, paints require good ventilation because the paint contains solvents that can irritate your lungs and make you feel sick. Alkyd options require mineral spirits for cleanup, but they provide a hard, durable paint finish. Whichever you use, buy the best-quality paint you can afford for a lasting kitchen cabinet finish. Seal with at least three coats with a water based polyurethane. Use a small foam roller and foam brush for a smooth finish.