My mother was a devout Episcopalian. I was compelled to attend church until I was 18. My brother and I would get up early on Sunday to go to morning matins, which was short, then head out to prowl automobile junkyards or go to drag races. Once I was 18 I stopped going but after a very long winding road I am back at it.
My wife sent our daughter to Hebrew school which she liked well enough, but by the time she completed her bat mitzvah she’d had enough to it and hasn’t looked back. My wife was somewhat depressed by this but I pointed out that she had this within her now so if later in life she found the need for it she could call upon it and there it would be.
Ultimately they will make their own decisions, even if they don’t do so as children.