I've baked with little ones since I was a teen. Started with Haystacks cause that was no cook and proceeded from there.
Each of my kids learned to bake/cook starting with standing on a chair beside me. It's astonishing how well they can handle a knife at a rather young age. Now my son does most of the cooking at his house and his wife bakes - both with their little helpers. DSIL and DD both cook and bake with their kids. And when everyone is home the little ones help whomever is in charge of the kitchen.
I can hardly wait till my knees are better - knee replacements needed - to bake with the grands!