I'd plan at least one day in each park. If you are staying longer, plan more days in each park, prioritizing MK first, then Epcot or AK, then DHS.
Go online with the kids and let them choose what they want to do in each park. If they are on the fence about a ride, YouTube videos of each ride, show, parade, everything you can imagine abound. When the time comes (60 days out if staying onsite, 30 days out if offsite), disboards has great resources on choosing which rides to schedule FP+ for. Definitely plan to stay for the nighttime shows, parades, fireworks in each park.
I'd also let the kids look at various places to dine and make recommendations. Character meals can still be fun at their age if they are interested. Places like Sci-Fi Drive In, Coral Reef Restaurant, Beaches and Cream, 50s Prime Time Cafe, Sanaa are all fun places to start the search for dining experiences. If you are staying for 4 or fewer days, I'd stick with dining in the parks to maximize park time. If staying longer, then you may have time to venture for some dining experiences at the resorts. We love HDDR, especially if someone is celebrating a birthday.
If your trip is longer, 7+ days, you may have some time for activities at the resort (listed on the resort's page on WDW website) if you're staying onsite, exploring Disney Springs and/or the Boardwalk, doing a water park, etc.
Enjoy!