Tania Aebi took her kids cruising. Read about it on Boat US logs.
BoatUS Cruising Logs
IMHO the time to go cruising is NOW. Just find a way and go. I took a chunk of retirement early and went cruising for 7 years when I was in my early 40s. Best thing I ever did. Met a few boats with teenagers on board and they seemed well adjusted to the saailing life.
Maybe the principal danger with taking kids sailing is they realise that there is more to life than the 9 to 5 grind for 40 years.