From my experience, one of the best way to let your kids enjoy drawing is by being part of the activity. I always tell my kids that they are very good in drawing. Sometimes, we make a deal. If they could draw something special for me, I offer myself to put some colors on the drawing to make it more beautiful. They will feel very excited and motivated to finish a complete drawing then. They just can't wait to see how the black and white drawing turn into a colorful artwork.