If you're looking for a low key way to introduce your kids to cooking, try a cooking class at Kids U in Needham.  In these classes, young children make a simple recipe, do a related craft and then read a story while snacking on their creation!  Really simple recipes like animal shaped grilled cheese, pumpkin pie, zebra cookies, cornbread and more.  This is much more low key that Create-A-Cook in Newton - no professional kitchen - but since you're taking a class there, you get access to the playquad!