When my daughters were about 9 & 11 my wife started having each of them pick, prepare, and cook dinner one night each week. We had plenty of cookbooks of varying difficulty and my wife and I were available to advise, but they did everything themselves, including making up their shopping list. And no frozen or canned stuff.
Now they are 31 and 33 and are both excellent cooks. When they went away to college they were amazed that almost none of their classmates had the faintest idea how to cook anything. Best thing we ever did for them and my wife gets 95% of the credit.
Edited to add: we only had daughters. If we had had a son he would have made a dinner as well.