I love hearing that someone wants their kids to know God - hooray! We attend an Anglican church, and because we were brought up on it, my siblings and I prefer their traditional service (old style language etc) However, they do a 'family' service too, with modern language and more emphasis on children in conjunction with the Sunday School.
I think that sounds more like what you're after so I would suggest enquiring at various churches in your area for those that are youth/family oriented. Then it's probably just a matter of trying out a few to see what feels best to you. I wouldn't worry too much about the actual denomination.
Hope you find what you're looking for.