You can not be in the light in which bitcoin has brought you to and allow your children to suffer because you failed to teach them the secret behind your wealth.
You need time to do that.
I'd not recommend to just teach about Bitcoin in general when they need proper educations in school. Once they are aware about that stuff and already have mature mindset then I'd personally teach them slowly to inherit the Bitcoin knowledge in the future. Just imagine if they are still kids and you burden your kids head with something that is not yet to teach it. That'd be chaos.
Let your kids know that bitcoin is the surest way to financial freedom, teach them now that bitcoin is of more value than fiat currency, educate them about the importance of bitcoin to mankind, let them know that bitcoin has changed the economy of countries who saw the light in it and adopted it as a means of doing transactions.\
Just briefly teach them, sure!
But for more in-depth technology behind it or in extreme case with investment stuff, then you don't need to do that yet.
Yes, time will come that they will get curious to know with bitcoin, how it works, and other stuff like that. There is almost no way that they wouldn't hear or know about it because their generation is different in our timeline because bitcoin is not that known yet in our time, while in their timeline, cryptocurrency will be much more known and there's a high chance that it will be studied in schools.
In any possible way, it's also better if we start to introduce crypto and teach them slowly in their teenage years.