Your kids are the perfect ages. The show is silly corny humor that won't offend anyone. The food is decent (not great) but that's not really why you are there. You are there to clap along, sing (maybe) and have a blast with the presenters. There's really not a bad seat in the house and little ones are almost always looked at, spoken to, or addressed.
Personally, as a member of a party of only two adults, I love getting seated next to a family with small kids. The look on the faces of the kids is better than the actual show.