Here's one of the more complicated ways I got my kids hooked on camping...as I said...I am the entertainer for the kids. These photos/vids are all from last year. I have only set it up once this year, as they are usually so distracted by the adventure of the trees, rocks, creeks etc now. I did promise them I would set it up for this weekends trip though.
Like I say...it takes a lot of work and creativity, but if you make your kids enjoyment the first priority, they will fall in love with camping/exploring the great outdoors. Yes...part of that is letting them play with fire. I only get to "help" make the fires now (i.e. cut and split the large wood). They trade off who gets to build and match the fire.
http://www.expeditionportal.com/forum/showthread.php?t=45538