Kids in the kitchen
Best way to bond with kids is get them into the kitchen with you. Let them help with the non-lethal parts of the process and you'll not only have some quality time, but be teaching them some life skills as well.
As they get older they can wield the knife and use the stove and microwave with supervision. Children need to be acquainted with the dangers in the kitchen as well as the pure joy of creating a dish. This is the time to pass on the family recipes and relate experiences you had cooking with your folks, if indeed you did. Family is important as is relating family experiences including food, family history, and relations.
Next time you get ready to bake or cook, let junior do the measuring, stirring, and help with the prep. Don't pass up this time to enjoy each other while showing them the ropes.