You should let Nature takes its course. I learned to love cooking after endless hours watching my Mom, Dad, Grandma & Grandpa at the stove over countless years. I was always "naturally" interested in food!! If I had been forced to "cook", I probably would have spent half my income on fast-foods & take-out!! I am now 64 years old & look forward to my days of "creating luscious meals", not because of being forced, but because I have a loving fondness for food!! I come by it naturally.
If they're really interested in watching Mommy or Daddy cooking, you'll soon know it. I don't care what ANYBODY tells you, whether they cook for a living, are great chefs, or just like to putz around the kitchen ..... watch them and let them grow and appreciate "good cooking" and great food. If you don't like asparagus, no one is going to help you like it!! .... PERIOD!!!
If you force anyone to do something, they'll soon learn to hate it. Let them explore their own likes & dislikes.