A family I know has found one method that works great for them. As each child goes to bed, there is a gentle moment where a parent and a child share a short positive talk and an evening prayer. Some of the sweetest prayers I ever heard came from my own children during our gentle moments. It will build a super-strong relationship between you and each child. It will also give that child the presence of your love ... specifically for her heart or his heart.
So let's make the rest of our times with our children — and grandchildren — work a little better. Look for and explore those gentle moments with your children.
Love the LORD your God with all your heart and with all your soul and with all your strength. These commandments that I give you today are to be upon your hearts. Impress them on your children. Talk about them when you sit at home and when you walk along the road, when you lie down and when you get up. (Deuteronomy 6:5-7 NIV)