Do you spend time cooking with your kids? I don't have any children, but when I was growing up I used to bake with my grandma every week. I always looked forward to that time - we'd make pies, scones and plate cakes. She never measured anything out, she just used 'handfuls' and everything always came out perfectly.
One of the things they love the most is making bread with me - I have a really quick and easy Irish Soda Bread recipe that even children can't go wrong with and it works everything and they get to take the bread home at the end of the day...