If you want them to have spending power, run LNDHub or LNBits and set them up with Blue wallet connected to it.

You still maintain custodial control.

If you want it on chain, then set them up with a wallet that is derived using BIP85. That way you have the seed words to restore and can help them move funds.

Or, consider a 2 of 3 multisig (You, Child, Parent)

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Discussion

Best UX for this?

LNBits is the better setup for administration. It's protocol is compatible with LNDHub.

Users of LNBits can use just the web interface if they desire, or use BlueWallet for a mobile app.

If you run a popular node package like MyNodeBTC or Umbrel they have support for both of these if you aren't as confident about the command line to setup on your own