I have no kids (still in college!) but I'm sure cooking is something we'll do together often. My mother used to let me help her bake bread and I had so much fun kneading it:
Apparently I also liked playing dress-up a bit too much. Haha.
I also remember my dad making meatballs and letting my sister and me add the spices. He would tell us to smell it and decide what it needed. Then he showed us how to form the meat into balls and let us watch as he cooked them. He did the same with pancakes, letting us add fruit or chocolate pieces as we pleased then allowing us to oversee the cooking process.
Then there were my grandparents. My grandmother on my mom's side in particular, as well as her sister (my great aunt). They seemed to always be making cookies, which of course I was delighted to help with. I think they've been a big influence in my ever-increasing passion for baking.
As soon as I have kids old enough to enjoy the many wonders of the kitchen, I'll definitely have them cook with me!