My kids love to bake. Start with a packet mix if you are unconfident, and you’ll soon see everyone’s skills grow. Look for cooking classes for kids too: there are more springing up. I’ve signed D up to learn how to make Whoopie Pies during the Easter Holidays!
Cooking with kids has been shown to help them learn to try new foods. I’ve got a book about food and children coming out this summer, and we found lots of parents mentioning that cooking helped their selective eaters get interested in eating too.