I've always been more afraid of being left alone or left out than of things that go bump in the night.
Like anything, you don't force kids to cook. It just becomes part of life - have them be around it, keep them informed - talk about it. I try to relay my passion for it in these ways. The second you try to force anything on your own kid, they rebel.
The discipline of writing something down is the first step toward making it happen.

